The verification of permissible resistant torque considering back-drivability to develop a wearable assist suit
The verification of permissible resistant torque considering back-drivability to develop a wearable assist suit
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考虑反向驱动性的容许阻力矩验证，开发可穿戴辅助服
DOI：
10.1109/icarcv.2016.7838709
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Taro Nakamura
中科院分区：
文献类型：
--
作者：
S. Iikawa;M. Okui;Yasuyuki Yamada;Taro Nakamura
在本文中，验证了考虑反向驱动性的允许阻力矩，以开发可穿戴辅助服（WAS）。 WAS 具有离合器和可变粘弹性接头。在本文中，允许抵抗扭矩定义为日常使用中可接受的扭矩。作为WAS开发的第一阶段，本文通过调查问卷实验评估了膝关节的阻力扭矩与佩戴者所经历的不适程度之间的关系。另外，考虑阻力扭矩对膝关节伸展的肌肉的影响，并通过测量表面肌电图（表面-EMG）来确认。
In this paper, permissible resistant torque considering back-drivability is verified to develop a wearable assist suit (WAS). The WAS has a clutch and a variable viscoelasticity joint. In this paper, permissible resistant torque is defined as torque that is acceptable in daily use. As first stage of the WAS development, the paper discusses the relationship between the resistant torque to the knee and the degree of discomfort experienced by the wearer as evaluated through a survey questionnaire experiment. In addition, the influence of the resistant torque on a muscle of the knee extension is considered and confirmed by measuring surface electromyography (surface-EMG).