Control of wearable robot arm with hybrid actuation system

Abstract

We previously proposed a wearable robot arm named Assist Oriented Arm(AOA), that solved weight and safety problems of the existing wearable robot arms. The previous AOA cannot control fingertip accurately, while the user's body is moving. To use AOA in real tasks, this problem should be solved. In this paper, it is explained how to solve this problem, and how to implement it to AOA is explained.