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Takashi KUSAKA,Takayuki TANAKA,Shun’ichi KANEKO,Yoshihito SUZUKI,Munenobu SAITO,Shuji SEK,Naohisa SAKAMOTO,Hidekazu KAJIWARA 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes the assist force control of semi-active assist system ”Smart Suit” for horse trainer. We developed a soft and flexible power assist device named ”Smart Suit” for reducing horse trainers’ physical fatigue in their horse training works in order to prevent their spine or legs injuries. The smart suit is a kind of semi-active and flexible power assist devices. In order to gain the suitable assist force for periodical horse trainers’ motion, the assist force control method based on the periodical input control was developed in this study. Also, for stabilizing their horse riding motion, we developed the assist force control method considering their dynamic stability by controlling their center of gravity on the zero moment point (ZMP)which is the dynamic stable point.
Smart Suit: Soft Power Suit with Semi-active Assist Mechanism
Takayuki Tanaka,Yuta Satoh,Shun’ichi Kaneko,Yoshihito SUZUKI,Naohisa Sakamoto,Shuji Seki 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
We have been developing “mart Suit”as a soft and light-weight wearable power assist system. A prototype for preventing low-back injury in agricultural works and its semi-active assist mechanism have been developed in the previous study. The previous prototype succeeded to reduce about 14% of average muscle fatigues of body trunk in waist extension/flexion motion. In this paper, we describe a prototype of smart suit for supporting waist and knee joint, and its control method for preventing the displacement of the adjustable assist force mechanism in order to keep the assist efficiency.