The gait motion assisting device according to the present invention replicates movement of user's leg including thigh and lower leg around hip joint by pendulum movement of a rod-like rigid body, estimates hip joint angle and hip joint angular velocity of thigh calculated based on equation of motion of the pendulum movement by a state estimator using angle-related signal received from a thigh orientation detecting means as the observation, calculates the thigh phase angle using the estimated hip joint angle and the estimated hip joint angular velocity, and outputs assisting force having torque value calculated based on the thigh phase angle.

Certain examples described herein provide a method of controlling a robotic device including a body, an end effector coupled to the body by one or more joints and a propulsion system to drive the one or more joints to control a state of the robotic device. Example methods include applying impedance control to the robotic device; determining a reference trajectory of the end effector; detecting an applied external force and/or torque acting on the robotic device causing a departure from the reference trajectory; calculating an adjustment to be applied to one or more of the one or more joints to compensate for the detected applied external force and/or torque; and using the calculated adjustment to control the one or more joints to actuate the end effector and recover the reference trajectory of the end effector.

A robot joint torque control system and a load compensation method therefor are provided, which relate to the technical field of robot joint motion control. A mathematical model of the robot joint torque control system is established first. Equivalent transformation is performed on a system functional block diagram thereof, and then it can be seen that load parameters have a great influence on joint torque output. A load compensation controller is designed to effectively eliminate the influence of the load parameters on an output torque of the joint. The system is equivalent to an inertial element on the basis of the compensation, and then a PD controller parameter is adjusted to increase an open-loop gain of the system, so as to increase a system bandwidth and increase a response speed of the joint torque control system, thereby improving performance of the joint torque control system.

Provided is a method for controlling a robot including a base, a robot arm coupled to the base, and a drive unit including a motor for driving the robot arm. The method includes a first step of acquiring weight information including information on a weight of an end effector installed on the robot arm and a weight of an object to be worked by the end effector, a second step of determining a frequency component to be removed from a drive signal for driving the motor based on the weight information acquired in the first step, and a third step of removing the frequency component determined in the second step from the drive signal to generate a correction drive signal.

A work management apparatus, method, and system enable to accurately manage position, tightening torque and other information for all fastening parts, for tightening work using a tool with a torque sensor. The system includes: a driver provided with a torque sensor; and first and second cameras that capture images of a product from different viewpoints. The torque sensor starts measurement of the tightening torque when a detected tightening torque exceeds a set threshold value, stops measurement of the tightening torque when the measurement data satisfies a predetermined condition, and outputs torque related data that includes measurement time. The system further includes: a PC that calculates coordinates of an engagement position of a bit from a plurality of image data captured by the first and the second cameras corresponding to the measurement time included in the torque related data; and a marker mounting device provided with a marker and removably mounted to the bit.

A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

A method of controlling a robot arm with robot joints, where the joint motors of the joints are controlled based on a signal generated based on the friction torque (formula I) of at least one of the input/outside of the robot joint transmission and the robot joint transmission torque (formula II) between the input side and the output side of the transmission. The friction torque is determined based on: at least two of the angular position of the motor axle; the angular position of the output axle and/or the motor torque provided to the motor axle by the joint motor. The robot joint transmission torque is determined based on: at least one of the angular position of the output axle; the angular position of the output axle and/or the angular position of the motor axle; the angular position of the motor axle and the motor torque provided to the motor axle by the joint motor.

This overall control device for a testing system comprises: a plurality of resonance suppression controllers that each generate a torque current command signal for suppressing mechanical resonance between a specimen and a dynamometer upon receiving a base torque current command signal and axial torque detection signal and have different input/output characteristics; a specimen characteristic acquisition unit for acquiring the value of the moment of inertia of the specimen connected to the dynamometer; and a resonance-suppression-controller selection unit for selecting one of the plurality of resonance suppression controllers on the basis of the value of the moment of inertia acquired by the specimen characteristic acquisition unit and mounting the selected resonance suppression controller in a dynamometer control module.

To accurately predict a sensor value even in the case where external force is received. A control apparatus according to the present disclosure includes a prediction section that, in an actuator including a torque sensor that detects torque generated at a driving shaft, and an encoder that detects a rotational angle of the driving shaft, predicts a detection value of the encoder on a basis of a detection value of the torque sensor, or predict the detection value of the torque sensor on a basis of the detection value of the encoder, and a trouble determination section that compares a prediction value predicted by the prediction section with an actually measured value of the torque sensor or the encoder to perform trouble determination on the torque sensor or the encoder.

A medical supporting arm control apparatus that includes a memory, and processing circuitry that obtains a current spatial position of an operating point in a multi-link structure configured by coupling a plurality of links by a joint section, by detecting a current rotational angle of the joint section, compares a movable region of the operating point stored in the memory with the obtained current spatial position, the movable region being set in advance, and restricts an operation of the operating point on a basis of a result of the comparison.