Control system design for motion training based on human’s proficiency level

Physical training enables us to recover from disability in rihabilitation or to aquire motion skill. These days, many devices that assist human’s motion such as power assist suit have been developed. However, these devices do not consider the human’s proficiency level or recovery degree; therefore some adjustments of the device will be required according to the human’s proficiency level. In this paper, focusing on stabilization of an inverted pendulum, we propose a controller design method that changes its contribution for stabilization based on human’s proficiency level. Controller is designed based on Model Predictive Control for fast real time calculation. Human’s proficiency level is calculated from convergence level of the inverted pendulum system. Experimental results show the degree of controller contribution is decreased to high skilled subjects.