J151014 A Motion Controller of the Intelligent Walking Support Robot Based on Digital Acceleration Control

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  • J151014 ディジタル加速度制御法によるインテリジェント歩行支援ロボットの運動制御([J151-01]ライフサポートとQOL(1))

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Abstract: With the rapidly increasing aging population in need of long-term care and the decreasing youth population, the elder-to-elder nursing care has become a serious social issue, and an intelligent robot that supports elderly people's everyday life is highly sought after. It is highly desirable that people with the impairment in lower extremities will not become bed-ridden due to their lack of muscle strength to maintain standing posture. Therefore, the authors have been working to develop an intelligent walking support robot that enhances a person's residual functional capacity of lower extremities. This report proposes a motion controller of the intelligent walking support robot that uses digital acceleration control method and confirms the effectiveness of the proposed controller by conducting simulations and experiments. The digital acceleration controller is an effective control method to deal with the effect of nonlinear friction force, and the effectiveness has been verified in the application of motion control on mechatronics system and robot manipulator.

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