Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
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.
