機械的弾性要素を利用した周期運動用パワーアシストシステム : 理論的考察とロバスト性の実験的検証 [in Japanese] A Power Assist System for Sinusoidal Motions Utilizing Mechanical Elastic Elements : Theoretical Investigation and Experimental Verification of Robustness [in Japanese]
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In this paper, we conducted theoretical investigation and experimental verification of robustness on a power assist system that utilizes stiffness optimization of a mechanical elastic element. This power assist system amplifies torque of its operator and optimizes the stiffness automatically to minimize torque of an actuator in the case of sinusoidal motions. The theoretical investigation clarified physical meanings of all terms of the controller, which realizes the torque amplification and the automatic stiffness optimization. Some experimental results demonstrated the effectiveness of the proposed power assist system even when some physical parameters of the controlled object are not known precisely.
JRSJ 26(3), 294-300, 2008-04-15
The Robotics Society of Japan