筋電と力情報を統合した動作推定に基づく上肢外骨格型パワーアシストロボット制御

抄録

Recently, the aging problem is attracting great attention in Japan. One of the important technologies to solve this problem is a power-assist system which is able to assist the motion of physically weak persons such as elderly or disabled persons in various situations. This paper presents a method to estimate the human motion intention based on integrated information of EMG and force information for an upper-limb power assist exoskeleton robot system. The effectiveness of proposed method is evaluated through experiments.