Presentation	2012-02-09 Development of Power Assist System with Motion Estimation Using Model Predictive Control Takahiko MORI,
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Abstract(in English)	Recently, many kinds of control methods using electromyogram (EMG) signals have been proposed for a power-assist robot or a myoelectric prosthetic. However it is considered that it is difficult to adap to unknown environment or condition and to realize high power-assist ratio. Therefore we propose a new power-assist system which is able to realize motion-assist depending on the circumstances predicting operating touque and future trajectory in real time, and to realize high power-assist ratio without unstability by using model predictive control.
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Keyword(in English)	Man-Machine Cooperation / Power-Assist / Model Predictive Control / Myoelectric Prosthetic
Paper #	HIP2011-58
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Conference Information
Committee	HIP
Conference Date	2012/2/2(1days)
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Paper Information
Registration To	Human Information Processing (HIP)
Language	JPN
Title (in Japanese)	(See Japanese page)
Sub Title (in Japanese)	(See Japanese page)
Title (in English)	Development of Power Assist System with Motion Estimation Using Model Predictive Control
Sub Title (in English)
Keyword(1)	Man-Machine Cooperation
Keyword(2)	Power-Assist
Keyword(3)	Model Predictive Control
Keyword(4)	Myoelectric Prosthetic
1st Author's Name	Takahiko MORI
1st Author's Affiliation	Department of Electronic Controll of Engineering, Gifu National College of Technology()
Date	2012-02-09
Paper #	HIP2011-58
Volume (vol)	vol.111
Number (no)	432
Page	pp.pp.-
#Pages	6
Date of Issue