The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2017
Session ID : 1A1-O10
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Retargeted Motion Trajectory Tracking based on Torque Control for Evaluating Active Assistive Devices
*Takahiro ITOKo AyusawaEiichi YOSHIDAHiroshi KOBAYASHI
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Abstract

This paper aims at a novel framework of evaluating supportive effects during dynamic motions supported by wearable assistive devices, by extending our previous work that has proposed a humanoid-based method for evaluating static torques. For this purpose, first we introduce a model of the human intension of motions supported by active devices by observing respective human tasks. Next, evaluation of assistive devices during dynamic motions is addressed by a torque controller for a humanoid that tracks retargeted human motions. Finally, the effectiveness of proposed method is validated by experimentally assessing assistive device ”Muscle Suit” actuated by pneumatic artificial muscles.

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© 2017 The Japan Society of Mechanical Engineers
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