Abstract
For the upcoming aging society, the demands for health care robots are increasing. Power-assisting device is an equipment that enhances the mobility of elderly and disabled people. Other potential applications are for rehabilitation and sports training. The main focus of conventional power-assisting devices is to assist human motion as a whole reducing the burden of all related muscles, such as for walking or lifting a patient. For the effective motion support, rehabilitation, and training, we have proposed a "pinpointed" muscle force control method. In this paper, the validity of the method is confirmed by simulation and experiment.
