仮想ばね・ダンパによる接触力推定を用いたパワーアシストスーツ装着時の筋活動量シミュレーション

抄録

A powered exoskeleton (PE) is a wearable device to assist human muscles. A development method that develops severally Base PE and Upper PE is considered in order to reduce costs and developing period. Base PE for general-purpose and Upper PE which is fitted for targeted work contents. In this paper, we proposed a method that simulates influence for human body when human equips with Upper PE by use of experimental data of only Base PE. Then, the simulation uses contact force between human and PE estimated by virtual spring and damper. Finally, we evaluated results of the proposed method using by surface EMG of movements like the simulation.