Assist control using EMG based optimal control approach for exoskeleton robot

2016 Fiscal Year Final Research Report

• Project/Area Number: 26820090
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Advanced Telecommunications Research Institute International
• Principal Investigator: Teramae Tatsuya 株式会社国際電気通信基礎技術研究所, 脳情報通信総合研究所, 研究員 (60626828)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 最適制御 / 筋電位 / 外骨格ロボット / Assist-as-needed control

Outline of Final Research Achievements

Since, in human robot system, conventional assist control approach can not adapt to human activity change during task, we propose control method using EMG based optimal control approach to achieve controller that has robustness for change of human activity.
To verify control performance of proposed method, we set trajectory tracking task and 3 different conditions : Robot dominant, human dominant, human robot cooperation. In results, proposed method could stably achieve the task in 3 conditions , and tracking performance of proposed method was improved compared with conventional method. Moreover, proposed method could adapt to human activity when seamlessly changes during trial.

Free Research Field

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