Force-free control produces motion in a robot arm as if it were under conditions with no gravity and no friction. In this study, a method of force-free control is proposed for industrial articulated robot arms. The forcefree control proposed was applied to the direct teaching of industrial articulated robot arms in that the robot arm was moved by direct human force. Generally, the teaching of industrial articulated robot arms is carried out using operational equipment called a teach-pendant. Smooth teaching can be achieved if direct teaching is applicable. The forcefree control proposed enables humans to teach industrial articulated robot arms directly. The effectiveness of forcefree control was confirmed by experimental work on an articulated robot arm with two degrees of freedom.

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In the rehabilitation, experts assesses the recovery reaction while feeling the reaction force from the patient directly. This is due to important to grasp recovery state of muscle of the patient during the rehabilitation. This paper proposes the evaluation methodology of recovery state of muscle, by performing quantitative evaluation of muscular power from relationship between EMG and muscle load, and quantitative evaluation of muscle fatigue from use ratio of muscular fiber type. In addition, the decision method of appropriate muscle load and number of times in rehabilitation is proposed based on the evaluation of recovery state of muscle. Verification and effectiveness of the proposed method are assumed based on a constructed rehabilitation system by simulation work.