An upper-limb power-assist exoskeleton robot with task-oriented perception-assist

Many kinds of power-assist exoskeleton robots have been developed to assist the motion in rehabilitation and daily living of physically weak persons. A method of perception-assist has been proposed to assist not only user´s motion but also the interaction with an environment, by applying the modification force to the user´s motion if it is necessary. In this paper, task-oriented perception-assist is proposed to assist the daily task of physically weak persons with an upper-limb power-assist exoskeleton robot. The performing task is estimated by grasping tool in the proposed method. The effectiveness of the proposed method has been evaluated by performing experiments.