| Budget Amount *help |
¥4,000,000 (Direct Cost: ¥4,000,000)
Fiscal Year 2000: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1999: ¥2,800,000 (Direct Cost: ¥2,800,000)
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| Research Abstract |
In this research project, the following three topics have been developed and investigated in order to realize the personal adaptable intelligent power assisting system.
(i) Force control based on motion perception using Electricmiogram (EMG) signals
In this system, it is necessary to consider an internal state of a human operator such as fatigue and slight changes of motion pattern, as well as conventional physical load. In this project, the method of representing the internal state with the EMG signals has been developed. Furthermore, the force control method with the internal state has been developed and verified.
(ii) Modeling and analysis of individual motion perception
Utilizing motion perception ability of an individual human operator, the power assisting system can become easier system to handle for him. In this project, we have focused on the system of wrist-elbow with three degrees of freedom, and we have investigated and modeled the interaction among the system. In addition, we have proposed the control system using the individual motion perception, and we have verified it.
(iii) Development of power assisting device and its control
We have developed two kinds of power assisting devices. The first one is a lightweight wearable one DOF device, and the other one is an external device of one DOF transnational motion. We have developed the personal adaptable control scheme by refining the above two control schemes, and we have applied it to the two devices. As a result, we have confirmed that the personal adaptable intelligent power assisting system, which can follow an arbitrary motion of a human operator with assisting force or torque, is achieved.
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