パワーアシストスーツ装着時の階段昇降動作の特徴抽出と制御手法に関する考察

抄録

A powered exoskeleton (PE) is a wearable device to assist human muscles. In this study, we develop a PE system able to assist waist and knee joints. The motion sometimes has to be awkward because of the lack of active joints. In this study, we focus on a motion going up/down stairs and improve the control law. First, we conduct an experiment to go up and down stairs, and record a body motion capture data. Then, we analyze the motion and calculate floor reaction force using a two-dimensional dynamical simulator. Finally, we propose a new control method using the simulation results and perform an experiment to show the effectiveness of the new method.