In a conventional power assist system, an operation direction and power of a manipulator were adjusted when operator
looked at a state and position of an operation object. So, position of an object is acquired by a visual sensor, and not only
follows operation of human, but sets up a work route between an operation object and a manipulator. And an end-effector
is guided to an object so that an operator can operate manipulator smoothly to an object.
In this paper, the work path creation using the potential that suits an operator is proposed. A near work path is set up
according to an end-effector orbit that an operator draws, and by guiding to an object aims at the improvement in
maneuverability of a power assist.