セッションID: 2A2-L04
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
人力ロボティクスの研究
（第9報，人力関節駆動機構における回生エネルギーを用いた駆動アシスト）
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
The goal of this study is to propose the concept “Human-powered robotics,” which is a methodology to design the robotic system which can control the joint by directly using a power applied by the operator. This paper illustrates the proposal of the driving assist method not to lose safety using regenerative energy on 1-DOF human-powered joint control system using servo clutches with regenerative brakes and differential gears. We proposed an assist control system keeping unchanged the torque of input shaft and reducing the load of friction in the mechanism. We evaluated the proposed control system by using a prototype.
