| 摘要 |
PROBLEM TO BE SOLVED: To provide a power assist device capable of enhancing operability and safety. SOLUTION: The power assist device 20 is provided with an impedance control part 61a for impedance-controlling motors 31a-31c based on operation force F<SB>h</SB>of an operator M detected by a force sensor 54 mass m, viscous resistance c and friction resistance F of a movable part including a work W presumed by Kalman filter 61a2; and a force control part 61b for force-controlling the motors 31a-31c at an open loop based on the operation force F<SB>h</SB>. When a predetermined switching condition is satisfied, the impedance control by the impedance control part 61a and the force control of the open loop by the force control part 61b are switched by a switching part 61c. Thereby, the motors 31a-31c are impedance-controlled by the impedance control part 61a until it is contacted with an obstacle and the motors 31a-31c are force-controlled by the force control part 61b at the open loop after it is contacted with the obstacle. COPYRIGHT: (C)2006,JPO&NCIPI
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