| 摘要 |
PROBLEM TO BE SOLVED: To provide a power assist robot capable of generating assist force stably even it is operated by feedback of a myoelectric potential.SOLUTION: Each active joint forming an external skeleton type robot 1 comprises a myoelectric potential sensor which measures a myoelectric potential of a user and an actuator which drives active joints. A control part 134 controls target torque to be generated by the active joints as a total sum of a value obtained by multiplying a first feedback coefficient by joint drive torque estimated from the myoelectric potential and a value obtained by multiplying a second feedback coefficient by assist torque for generating assist force according to command from an external control device 20 in feedback control of the assist force based on the feedback of the myoelectric potential. |
