脚部装着型マニピュレータを用いた人間支援システムの構築

カテゴリ: 全国大会

論文No: 4-171

グループ名: 【全国大会】平成27年電気学会全国大会論文集

発行日: 2015/03/05

タイトル(英語): Construct of human-assist-system with wearable leg manipulator

著者名: 増田 寛人(沼津工業高等専門学校),山之内 亘(沼津工業高等専門学校)

著者名(英語): Hiroto Masuda(National Institute of Technology, Numazu College),Wataru Yamanouchi(National Institute of Technology, Numazu College)

キーワード: モーションコントロール|外乱オブザーバ|加速度制御|人間支援

要約(日本語): This paper presents control method for human assist using chain mechanism system.Human assist systems are critical item for us.In Japan, we need support of robot in the medical and welfare fields.This study notices the wearable assist robot using chain mechanism.Chain mechanism has some good point.For example, it doesn't have to wear for the legs directly.However this system has the interference between motors and Joints.To solve this problem, we propose a method using the transformation matrix.It is guided by the structure of this system.We tested to confirm if this matrix is true or not. The method of confirmation is to control joint position.As a result of this, we can prove the transformation matrix is accurate and model the system.

原稿種別: 日本語

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