| 摘要 |
PROBLEM TO BE SOLVED: To generate force for supporting a user's movement by extracting the user's intention from movement of the user's joint without using a myoelectric sensor.SOLUTION: Even when friction that is difficult to model exists at a gear part of a joint actuator, a multilink system generates force for supporting movement without giving a resistance feeling to a joint of a user wearing the system by performing control so as to compensate for the friction to make a joint unit follow an ideal mathematical model. Application of torque mathematically backed up to the joint unit in supporting the user's movement consistently gives a feeling of being supported by natural force to the user even under various types of situations.SELECTED DRAWING: Figure 1 |
