Power Assist Suit Research Articles

2P1-M01 装着者と一致する腰と脚の関節軸を有し1台のモータで重量物の支持運搬を補助するパワーアシストスーツの開発

2P1-M01 装着者と一致する腰と脚の関節軸を有し1台のモータで重量物の支持運搬を補助するパワーアシストスーツの開発

1A1-B10 二関節筋パワーアシストスーツの研究 : 第2報 重量物保持モデルの開発(医療ロボティクス・メカトロニクス(1))

In this study, we develop a power assist suit adapted to bi-articular muscles model. Before now we have already developed the leg mechanism of power assist suit adapted to bi-articular muscles model using parallel links. The leg mechanism of power assist suit adapted to bi-articular muscles model has high torque and safety from a series of experimental results. Therefore, we improve Power Assist Suit based on conventional leg mechanism confirmed the good efficiency. Furthermore the new model is able to hold 10kgf weight as a result of mechanical improvement. In addition, we consider distinction method by Neural network with electromyography control.

J102032 高齢者や介護者を対象とするこ関節筋構造パワーアシスト機構の研究([J10203]ライフサポート(3))

This research is the Power Assist Suite for senior citizens and helpers that look ahead to the future being an aging society with fewer children. The most Power Assist Suits developed now have actuators to act only on each joint like the actuator acting only on the joint of knee can't act on another joint. However, the muscular arrangement of the human body has already been known, and Humans have the muscles that operate two joints adjoined (bi-articular muscles) in addition to the muscles that operate one joint (mono-articular muscles) , and bi-articular muscles gives the holding power of extremities the very important effect. We have researched the Power Assist Mechanism using bi-articular muscles structure focusing this characteristic.

304 パワーアシストスーツの開発 : 肩および股関節ユニットの改良

304 パワーアシストスーツの開発 : 肩および股関節ユニットの改良

1G1-4 介護者用パワーアシストスーツの開発(パワーアシスト,一般講演)

A new power assist suit consisting of shoulders, arms, a back, a waist, hips and legs units was developed. For increasing squatting down movement, the movable angle of hip unit was increased using ball joints. The characteristics of the improved hip and leg unit showed the utility of the units. The validity of the improved suit was demonstrated.

358 パワーアシストスーツの開発 : アシスト特性

358 パワーアシストスーツの開発 : アシスト特性

714 パワーアシストスーツの開発 : システムの改良

714 パワーアシストスーツの開発 : システムの改良

Stand Alone Wearable Power Assisting Suit (Development and Availability)

A stand alone wearable power assisting suit has been developed, which gives nurses the extra muscle they need to lift their patients and avoid back injuries. In order to put a stand alone power assist suit to practical use, sensing system and the mechanism have been improved. To stabilize the muscle hardness sensing system more, the sensor of the all-in-one design that built the sensor into meshed belt was developed and the sensing characteristic of the muscle sensor were improved. The improvement in the mechanism was advanced so that a movable range of the suit was expanded and the content of the work wearing the suit was expanded. The output torques of the actuators increased by increasing the number of the cuffs inserted into the actuators. According to the equations derived from static body mechanics using the joint angles, the necessary joints torques for maintaining a position were calculated by an embedded microcomputer and the necessary joint torques were combined with the output signals of the muscle sensors to make control signals. An exoskeleton for measurement having the same frame and potentiometers as the power assisting suit was developed. The muscle forces were measured by applying the exoskeleton to the human body and it was proved that the each unit of the suit transmitted assisting torque directly to each joint, and by wearing the suit to the body the weight could be lifted by half or less muscular power, i.e., muscular power became twice or more.

603 パワーアシストスーツの開発 : リストユニットの開発とウェストユニットの改良

603 パワーアシストスーツの開発 : リストユニットの開発とウェストユニットの改良

Stand-Alone Wearable Power Assist Suit –Development and Availability–

The stand-alone wearable power assist suit we developed gives caregivers the extra strength they need to lift patients while avoiding back injuries. To put this suit to practical use, we improved sensing system and the mechanisms. To stabilize muscle tenseness sensing more, we developed an all-in-one sensor that built the sensor into a mesh belt and improved sensing characteristics. We expanded the movable range and function of the suit. We increased actuator output torque by increasing the number of cuffs inserted into actuators. Based on equations derived from static body mechanics using joint angles, joints torques required to maintain a position are calculated by an embedded microcomputer and required joint torques was combined with muscle sensor output signals to generate control signals. We developed an exoskeleton for measurement having the same frame and potentiometers as the suit and measured muscle force by having a user wear the exoskeleton, and proved that each unit of the suit transmitted assistance torque directly to each joint. We also found that a user wearing the suit could lift weight using half or less muscle power, i.e., muscle power doubled.

介護者用パワーアシストスーツの開発 : センシングシステムおよびメカニズムの改善(パワーアシスト2)

介護者用パワーアシストスーツの開発 : センシングシステムおよびメカニズムの改善(パワーアシスト2)

9B25 パワーアシストスーツの開発 : ウェアラブル化に向けたシステムの改善

9B25 パワーアシストスーツの開発 : ウェアラブル化に向けたシステムの改善

9B26 パワーアシストスーツ用制御モジュールの開発

9B26 パワーアシストスーツ用制御モジュールの開発