生来手との両手協調動作を可能にする足圧中心入力を用いた身体拡張マニピュレータの制御手法の検討

抄録

To add a degree of freedom (DOF) will augment capability of human body and physical abilities. The purpose of this study was to examine how to control a manipulator as an additional limb for coordinated tasks with innate upper limbs. In this paper, we proposed a control method based on the "Center of Foot Pressure" which variation is alternative to that of Center of mass movement without impediment of upper limbs’ movement and applied 3DoF manipulator control at 2D plane which designed by advance teaching in 3D space. This method can be expected to achieve the collaboration tasks in the verified accuracy of this controller.