HAL equipped with passive mechanism
HAL equipped with passive mechanism
复制标题
HAL配备被动机构
DOI：
10.1109/sii.2012.6427323
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Y. Sankai
中科院分区：
文献类型：
--
作者：
Hiromasa Hara;Y. Sankai
下背痛是护理领域的严重问题。我们开发了用于腰部支撑的HAL，以减轻腰部负荷。在实际应用中，HAL的节能是非常重要的。本研究的目的是开发配备被动机构的HAL，以降低HAL的功耗，并验证配备被动机构的HAL的节能效果。在装有被动机构的HAL处，辅助扭矩由致动器扭矩和被动扭矩组成。为了验证配备被动机制的HAL对腰椎载荷减少的有效性，我们使用3D骨骼模型模拟了运动辅助评估。在HAL配备被动机制支持，对腰椎的应力低于没有HAL支持。为了验证被动机构对高空作业车的节能效果，进行了重载作业试验。配备被动机构的HAL的平均功耗降低了44%，配备被动机构的HAL的最大功耗降低了45%。为了降低HAL的功耗，我们开发了配备被动机构的HAL，并验证了配备被动机构的HAL的节能效果。预期护理者可以在护理洗澡期间帮助没有腰部负荷的老年人，并从床上转移到轮椅上。
Low back pain (LBP) is the serious problem in the field of nursing care. We have developed the HAL for lumbar support in order to reduce the lumbar load. For practical use, it is important to save energy of HAL. The purpose of this study is to develop HAL equipped with passive mechanism in order to reduce the power consumption of the HAL, and to verify the effectiveness of saving energy of HAL equipped with passive mechanism. The assist torque consists the actuators torque and the passive torque at the HAL equipped with passive mechanism. To verify the effectiveness of the HAL equipped with passive mechanism on lumbar load reduction, we simulated the motion assist evaluation by using the 3D skeletal model. In the HAL equipped with passive mechanism support, the stress onto lumbar was lower than without the HAL support. The experiment at task carrying a heavy load was performed in order to verify the effectiveness of saving energy of the HAL equipped with passive mechanism. The average power consumption of the HAL equipped with passive mechanism was reduced by 44%, and the maximum power consumption of the HAL equipped with passive mechanism was reduced by 45%. We developed the HAL equipped with passive mechanism in order to reduce the power consumption of the HAL, and verified the effectiveness of saving energy of the HAL equipped with passive mechanism. It is expected that caregivers can help an elderly person without the lumbar load during the care of bathing, and transferring from a bed to a wheel chair.
利用弯曲气动人工肌肉的可穿戴式腰部助力装置的研制
DOI：
--
发表时间：
2005
期刊：
Transactions of The Japan Fluid Power System Society Vol. 36, No. 6
影响因子：
--
作者：
Toshiro;Noritsugu
通讯作者：
Noritsugu