Development of the Ultrasonic Motor-Powered Assisted Suit System
Development of the Ultrasonic Motor-Powered Assisted Suit System
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DOI：
10.1109/iccme.2007.4381966
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发表时间：
2006-12
期刊：
影响因子：
--
通讯作者：
S. Toyama;J. Yonetake
中科院分区：
文献类型：
--
作者：
S. Toyama;J. Yonetake
本文报道了一种由超声波电机驱动的助力服系统的开发。所提出的辅助服被设计成支持看护者执行护理任务。辅助服的结构被设计成尽可能地覆盖看护者的动作，并且该服配备有安装在靠近手肘、肩、腰和膝的关节旋转轴的区域的超声波马达。服装框架被设计为外骨骼结构，该外骨骼结构可以保护穿戴者免于因为足部接触地面而承受服装的重量。辅助服的上身部分使用Phi60双电机。双转子型电动机的转矩是单转子型电动机的转矩的约3.8倍。从以上结果可知，双马达型电动机节省空间少，但转矩效率高，因此适合作为辅助服上部的致动器。
This paper reports the development of a power-assisted suit system actuated by ultrasonic motors. The proposed assisted suit is designed to support a caretaker performing nursing care tasks. The structure of the assisted suit has been designed to cover the caretaker's motions as much as possible, and the suit is equipped with ultrasonic motors mounted in areas close to the joint rotation axis of the elbow, shoulder, waist, and knee. The suit frame is designed as an exoskeleton structure that can protect the wearer from bearing the suit's weight because the foot part contacts the ground. A Phi60 double sandwich-type motors are used for the upper body part of the assisted suit. The torque of the double sandwich-type motor is about 3.8 times compared to the torque of the single sandwich-type motor. From the above results, the double sandwich-type motor is less space-saving but has high torque efficiency, and is therefore suitable as the actuator for the upper part of the assisted suit.