電動パワーアシストスーツの人間動作追従およびアシスト制御

抄録

This paper is a study on power assist suit. We have developed an electric power assist device that has compliance to users. Next, we constructed a control system in which the assist device follows the movement of a human user. Then, we devised a control system that detects and automatically supports the movement of the user lifting up. In addition, in order to support multiple tasks of users, we constructed a system that automatically supports the action of climbing stairs. We confirmed that the intended action of PAS was realized by experiments.