| 摘要 |
PROBLEM TO BE SOLVED: To provide an exoskeletal robot with a hybrid electro-pneumatic actuator capable of achieving accurate controllability, while reducing the weight of the exoskeletal robot.SOLUTION: Each active joint constituting an exoskeletal robot 1 includes a hybrid electro-pneumatic actuator. The hybrid electro-pneumatic actuator includes a pneumatic air muscle and a wire for transmitting driving force of the air muscle to the joint. In compliance with a command from an external control device 20, a control part 134 controls pressure to be applied to the air muscle for generating the driving force by an inverse model as a combination of a dynamic model defining the wire as a spring represented by a prescribed spring constant, and a driving force model representing a prescribed relationship of the driving force to a contraction rate of the air muscle. |
