表面圧力分布センサを搭載した体幹部装着型ロボットにおける接触力分布の予測制御

抄録

The authors aim to realize assistance of complicated body parts as the torso. Securing safety for users is the utmost importance for wearable robots. For safer assistance, it is desirable to directly control the contact state. The contact state is acquired from the pressure distribution sensor on the robot surface, and the robot is controlled to reduce superfluous pressures. In this paper, a novel control method based on predictive is proposed. From current joint angles and pressure distribution of the robot, this method predicts and controls the pressure distribution of the next step. The proposed method is compared with the conventional joint torque control method and the effectiveness of our method is verified.