Development of Personal Adaptable Intelligent Power Assisting System

在本研究项目中，为了实现个人自适应的智能助力系统，开展了以下三个方面的工作：(1)基于运动感知的肌电(EMG)信号的力控制。在该系统中，除了考虑常规的物理负荷外，还需要考虑操作者的内部状态，如疲劳和运动模式的轻微变化。在本项目中，我们提出了用肌电信号来表示人体内部状态的方法。(2)个体运动感知的建模与分析利用个体操作者的运动感知能力，使助力系统更易于操控。在本项目中，我们以三自由度腕肘系统为研究对象，对系统之间的相互作用进行了研究和建模。此外，提出了基于个体运动感知的助力控制系统，并进行了验证。(3)助力装置及其控制的研制。第一个是轻量化的可穿戴单自由度设备，另一个是一个单自由度跨国运动的外部设备。通过对上述两种控制方案的提炼，我们开发出了个人自适应控制方案，并将其应用于这两种设备。结果表明，实现了具有助力或力矩跟随操作者任意动作的个人自适应智能助力系统。

In this research project, the following three topics have been developed and investigated in order to realize the personal adaptable intelligent power assisting system.(i) Force control based on motion perception using Electricmiogram (EMG) signalsIn this system, it is necessary to consider an internal state of a human operator such as fatigue and slight changes of motion pattern, as well as conventional physical load. In this project, the method of representing the internal state with the EMG signals has been developed. Furthermore, the force control method with the internal state has been developed and verified.(ii) Modeling and analysis of individual motion perceptionUtilizing motion perception ability of an individual human operator, the power assisting system can become easier system to handle for him. In this project, we have focused on the system of wrist-elbow with three degrees of freedom, and we have investigated and modeled the interaction among the system. In addition, we have proposed the control system using the individual motion perception, and we have verified it.(iii) Development of power assisting device and its controlWe have developed two kinds of power assisting devices. The first one is a lightweight wearable one DOF device, and the other one is an external device of one DOF transnational motion. We have developed the personal adaptable control scheme by refining the above two control schemes, and we have applied it to the two devices. As a result, we have confirmed that the personal adaptable intelligent power assisting system, which can follow an arbitrary motion of a human operator with assisting force or torque, is achieved.