Development of pneumatic power assist wear to reduce physical burden
Development of pneumatic power assist wear to reduce physical burden
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DOI：
10.1109/sii.2014.7028111
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发表时间：
2014-12
期刊：
影响因子：
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通讯作者：
D. Sasaki;M. Takaiwa
中科院分区：
文献类型：
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作者：
D. Sasaki;M. Takaiwa
目前已开发出多种助力装置。通过使用外骨骼，可以引入高产生扭矩的致动器。这些设备的辅助性能变得很高。另一方面，从设备的大小和强度考虑，实现外骨骼具有与人相同的DOF并非易事。本研究的目的是研制一种助力器，它像普通衣服一样使用方便，即使辅助率不是很高也不会限制运动。佩戴这款带有功率比高、重量轻的气动软执行器的手柄，可以帮助用户使用。这种穿着的最终目的是减轻重型设备造成的身体负担，如消防员的防热服等。本文讨论了助力磨损的结构，并从肌电图上验证了在上半身承受较大载荷的情况下助力的效果。
Many kinds of power assist device have been developed. By using the exoskeleton, a high generated torque actuator can be introduced. An assistance performance of these devices becomes high. On the other hand, a realization of exoskeleton which has the same D.O.F of a human is not easy from considerations about a size and strength of device. The purpose of this study is to develop power assist device which is easy to use like normal clothes and does not restrict movement even though the assistance rate is not so high. User can be assisted by wearing this one on which the pneumatic soft actuator, which has a high power weight ratio and a light weight, is put. Final goal of this wear is to reduce a physical burden caused by heavy equipment such as a heatproof suit for a firefighter and so on. In this paper, the structure of power assist wear is discussed, and the assistance effect under the condition that a heavy load is applied to upper body is verified from iEMG.