| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a method of controlling a robotic suit that identifies conformity of a wearer and performs parameter adjustment according to the conformity identification, and thereby improves wearing feeling.SOLUTION: A method of controlling a robotic suit that is based on a neural oscillator model, includes the steps of: configuring in advance an identification function for identifying a high or low level of conformity on the basis of a synchronization gain Cwhich is a parameter for drive controlling the robotic suit, a parameter bof a neural oscillator, and an interaction torqueτ; and installing the robotic suit and performing cooperative motion in order to obtain an output value of the identification function for the test data acquired for the synchronization gain Cat the time of the cooperative motion, the parameter bof the neural oscillator, and the interaction torqueτ. In the method of controlling the robotic suit, conformity of a wearer is considered to be high when the output value is positive, whereas, when the output value of the identification function is negative, the conformity of the wearer is considered to be low.</p> |
