Abstract
This paper proposes a wearable mechanism for assist of human elbows. The mechanism does not require precise adjustment of attachment positions when the mechanism is fixed on a human arm. In this sense, it is expected that attachment of the mechanism to a human arm can be easily completed. The key idea for enabling the easy attachment is kinematic redundancy of the mechanism. The mechanism itself has 3-DOF for assisting a 1-DOF human elbow; however, the system including both the human elbow and the mechanism becomes a 1-DOF system when the mechanism is fixed on the human arm. The posture of the system is determined by the flexion angle of the elbow. This paper firstly illustrates a kinematic model of the mechanism attached to a human arm. Secondly, kinematic and static expressions of the mechanism derived from the kinematic model are given. Thirdly, a prototype of the mechanism using a pneumatic actuator is shown, and some future issues for improving the mechanism is finally given in the conclusion.
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