Control System Based on Contact Force Distribution for Wearable Robot with Tactile Sensor

Abstract

To improve safety of wearable assist robots, the authors verified the control system based on contact force distribution with an actual robot. Because wearable assist robots contact a user and apply force directly, ensuring safety of the user is most important. In order to improve safety from the aspect of control, the contact force distribution feedback control system has been researched. The system controls contact force between a user and a robot directly. Although the system validated in principal with a simple robot model on simulation, validation with an actual robot has not done yet. In this paper, the authors describe validation of the control system based on contact force distribution with an actual robot. It is evaluated on experiments used the actual robot for arm in comparison with the conventional control system based on joint torque.