パワーアシスト装置の研究 : 第2報, 重力負荷と動的負荷に異なるアシスト比を設定する制御法の多自由度システムへの適用

抄録

This paper deals with the power assist system which is used to attenuate load force. We have proposed the control method for avoiding actuator's saturation and maintaining high power assist efficiency. The proposed control method is based on that, the operated load is divided into gravity load and dynamic load, and the power assist ratio for the gravity load is determined considering the human capability and the ratio for the dynamic load is determined considering the actuator's maximum torque. In this paper, we discuss how to apply the control method to a multi-degree-of-freedom power assist system. The relation between an operator's force and a load force to realize the proposed control method in the multi-degree-of-freedom system is formulated, the controller is constructed based on it, and the effectiveness of the power assist system used such controller is confirmed by experiments using a multi-axis power assist system.