Power assist system with motion estimation using predictive functional control

Many kinds of control methods using electromyogram signals have been proposed for power -assist robots or electric prostheses recently. However, it is considered that it is difficult to be adapted to unknown environment or conditions. Therefore, we propose a new power-assist system using model predictive control that can realize a stable power-assist and predict the future human fingers torque and the future trajectory in real time. Our power-assist system is composed of a combination of a MPC system based on an expansion plant and a PFC system based on a plant model.