Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
A study of an exoskeleton robot is performed extensively from demand of the field of the nursing and the physical distribution in recent years. Much of the exoskeleton robot developed at present is employing the EMG sensor or force/torque sensor as a control signal. But EMG sensor has problems such as perspiration, sensor misalignment and individual difference. Also, in common with EMG sensors and force sensors, there is a problem that the cost increases as the number of sensors increases. Therefore, we developed a power assistance system for the upper limb exoskeleton robot without EMG/force sensor. In this paper, we describe the method of constructing the torque estimation model, the result of the torque estimation, and the power assist result of the elbow joint.
