| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a power assist apparatus capable of performing a robust control for the instability of a signal acquirement from a sensor, even in the case of detecting a non-invasive biological signal.SOLUTION: For each combination, in which a predetermined number (e.g., one) of sensors (or measurement channel) becomes defective, estimation models of a joint torque are prepared in advance by the machine learning. Next, a defective sensor is detected from a correlation of a plurality of myoelectric signals so that an estimation model is suitably switched into an estimation model containing no defective channel detected, thereby to achieve a robust torque estimation.</p> |
