Development of a muscle suit for realizing all motion of the upper limb
Development of a muscle suit for realizing all motion of the upper limb
复制标题
开发实现上肢全动作的肌肉服
DOI：
10.1109/iros.2004.1389629
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Hiroshi Kobayash
中科院分区：
文献类型：
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作者：
Hiroshi Kobayash
一种“肌肉服”将为瘫痪或那些无法独立移动的人提供肌肉支持，这种“肌肉服”被开发为可穿戴机器人。没有金属框架和使用McKibben人造肌肉使肌肉服重量轻，使其在日常生活中使用变得现实。为了克服肌肉服的基本概念，提出了装甲式肌肉服，实现了外展运动。但由于装甲式肌肉服难以实现上肢的全部运动，因此采用了机械关节和硬骨架的新结构，实现了上肢的全部运动。
A "muscle suit" that will provide muscular support for the paralyzed or those otherwise unable to move unaided is developed as a wearable robot. The lack of a metal frame and use of McKibben artificial muscle allow the muscle suit to be lightweight, making it realistic to use in daily life. To overcome the basic concept of the muscle suit, the armor-type muscle suit is proposed and the abduction motion is realized. However, because of the difficulty in implementing all motion for the upper limb by the armor-type muscle suit, the new structure with the mechanical joints and hard frame is applied and all motion is achieved.