筋肉の配置を考慮した肩運動補助用外骨格型ロボットの適応

抄録

We have been developing exoskeletal robots in order to realize the human motion assist. Flexible and effective fuzzy neuro-controller has been applied for the control of the exoskeletal robots. In this paper, we propose an adaptation method of the exoskeletal robot for human shoulder motion assist under consideration of muscle arrangement. The effectiveness of the proposed adaptation method has been evaluated by experiment.