電動パワーアシストスーツの人間動作追従およびアシスト制御

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  • Human motion following and assist control of an electric power assist suit

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<p>This paper is a study on power assist suit. We have developed an electric power assist device that has compliance to users. Next, we constructed a control system in which the assist device follows the movement of a human user. Then, we devised a control system that detects and automatically supports the movement of the user lifting up. In addition, in order to support multiple tasks of users, we constructed a system that automatically supports the action of climbing stairs. We confirmed that the intended action of PAS was realized by experiments.</p>

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