POWER ASSIST DEVICE AND CONTROL METHOD THEREFOR

摘要

A control method for a power assist device (50) provided with an operation handle (6), a force sensor (7) that detects an operation force applied to the operation handle (6) and an orientation (?h) of the operation force, a robot arm (3), and an actuator (11). When the orientation (?h) of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator (11) is controlled so as to move the operation handle (6) along the advancing direction (A) by employing only a component of the operation force along the advancing direction; and when the orientation (?h) of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle (6) by the operation force applied to the operation handle (6) and the orientation of the operation force.