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JRM Vol.26 No.6 pp. 692-703
doi: 10.20965/jrm.2014.p0692
(2014)

Paper:

Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components

Takuto Yoshifuji, Takayuki Tanaka, and Takashi Kusaka

Division of System Science and Informatics, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo, Hokkaido 060-0814, Japan

Received:
April 15, 2014
Accepted:
October 14, 2014
Published:
December 20, 2014
Keywords:
power assist, skill assist, energy control, semi-active assist mechanism, periodical input control
Abstract
Frequency entrainment by EPIC

The semi-active assist mechanism proposed as a soft, flexible power assist device consists of an elastomer and actuator. Assist force is controlled by the actuator. in previous study, skill assist using periodical input control (PIC) had a motion-correction effect in motion for a single frequency. However, there is a problem by energy control in periodical input control for motion with multiple frequency components. In this study, we propose expanded PIC for motion with multiple frequency components. We verified the effect of skillassist considering multiple frequency components of human motion.

Cite this article as:
T. Yoshifuji, T. Tanaka, and T. Kusaka, “Development of Expanded Periodical Input Control for Periodic Motion with Multiple Frequency Components,” J. Robot. Mechatron., Vol.26, No.6, pp. 692-703, 2014.
Data files:
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