Abstract
This paper describes the development of a thigh-muscle strength-assistance robot, which is a kind of wearable robot. For practicality and commercialization, we proposed three fundamental concepts: the reduction of the thigh-muscle strength, minimized degree of dependence on a powered actuator, and complete wearer safety. Based on these concepts, a spring and link bar mechanism was conceived as a novel idea. The movement of the thigh is transferred to the spring mechanism through the link bar; hence, the elastic force of the spring assists the thigh muscle. Using forse sensing resistor (FSR) sensors and a powered cam mechanism, the muscle assistance is automatically activated and deactivated according to the wearer's movement. The specific mechanisms of the robot are addressed in detail, and the effectiveness is verified by experiments.
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