Analysis of power assist effect during skill assist for periodic motions under use of semi-active assist mechanisms

摘要

This paper describes an analysis of the power assist and the skill assist effects of a semi-active assist mechanism based on an energy control. For this mechanism, we have developed a soft and flexible power assist device that consists of an elastic material and a small direct current motor. The assist force is then the elastic force, which is controlled by adjusting the length of the elastic material by means of the motor. The skill assist is based on a motion correction method of periodic motions that was developed in a previous study. The control method can provide both power assist and skill assist affects. In this study, we analyze the adequacy of the power assist when simultaneously applying the skill assist.