Power assisting method for almost-periodic motions based on motion prediction

In this paper, we consider a synthesis procedure of power assisting systems for almost-periodic motions. In our previous study, we showed that the energy efficiency can be improved when a flat torque pattern is realized by removing the input pulsation. In this study, we apply a motion prediction technique based on the Time-Varying Seasonal AR model to the design problem of power assisting systems. The effectiveness of the proposed method is demonstrated through numerical simulations.