Abstract
AbstractThis research focuses on robot mechanisms with biarticular muscles. Robotic mechanisms with biarticular muscles can easily achieve not only high responsiveness but also isotropic force generation and dynamic characteristics. In this study, we proposed a power-assisted suit with a biarticular muscle structure for lightweight and safe walking assistance, and clarify the effectiveness of the bi-articular muscle structure in the mechanical and dynamic properties by using a prototype. In this report, a parallel link mechanism is adopted as a method to realize a bi-articular muscle structure. By incorporating a motor in the round pipe that serves as the main framework, the PAS has a simple structure with no interference between the human body and the mechanism and no large protrusion on the outside of the human body.KeywordsRoboticsBiarticulate musclePower assist suitKinetic analysis
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