Power assist method for HAL-3 estimating operator's intention based on motion information

This paper describes the recognition method and the control method to realize the power assist which reflects operator's intention by grasping the interaction between operator's intention and motion information. The basic control method for HAL had been performed by using myoelectricity wh...

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Bibliographic Details
Main Authors: Kawamoto, H., Kanbe, S., Sankai, Y.
Format: Conference Proceeding
Language:English
Subjects:
Actuators
Control systems
Hip
Home appliances
Knee
Leg
Motion control
Motion estimation
Sensor systems
Torque
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Summary:This paper describes the recognition method and the control method to realize the power assist which reflects operator's intention by grasping the interaction between operator's intention and motion information. The basic control method for HAL had been performed by using myoelectricity which reflects operator's intention. As the application of the basic method, we considered the control method of power assist based on another information by considering the relation between myoelectricity and another information of motion, and the recognition method for the control method. We adopted phase sequence control which generated a series of assist motions by the transition of some fundamental motions called phase. The result of experiments showed the effective power assist which reflected operator's intention by using this control method.
DOI:10.1109/ROMAN.2003.1251800