Thesis or Dissertation 作業者の動作予測と予測の信頼度を考慮したパワーアシスト制御方法に関する研究

小林, 憲弘

The purpose of this study is to develop a method to control power-assist systems with an energy egeneration system that achieves the desired load-reduction ratio even if torque saturation occurs. In this article, we use the ratio of the assist force impulse to the operator-force impulse as an indicator to evaluate the control method. The proposed method predicts the needs of the operator and delivers the desired load-reduction ratio by predicting the number of steps while acceleration from the initial input and switching to the appropriate prediction model. We evaluated the effectiveness of the proposed method through both simulation and experiments with a power assisted cart.
vii, 59p
Hokkaido University(北海道大学). 博士(情報科学)

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