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This paper focuses on the control system design for a wearable power assist device which provides force/torque support for people who are doing physically demanding tasks. The device is actuated by the McKibben artificial muscle. The McKibben actuator is know to exhibit high nonlinearity between the supply pressure and the contractile length, and it is basically difficult to design a high performance...
There are some difference between biological subjects and conventional humanoid robots from the point of its mechanisms, control method, and application of the biological characteristics to humanoid robots are now being popular. Motion control for 2-link robot arm on specific condition are mainly discussed in this paper. From the point of mechanism, biological subjects have two joints simultaneous...
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