Development of a pneumatic artificial muscle driven by low pressure and its application to the unplugged powered suit
Development of a pneumatic artificial muscle driven by low pressure and its application to the unplugged powered suit
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低压驱动气动人工肌肉的研制及其在不插电动力服中的应用
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Y. Kurita
中科院分区：
文献类型：
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作者：
Kazunori Ogawa;Chetan Thakur;T. Ikeda;T. Tsuji;Y. Kurita
摘要辅助服通过改善人体运动来减少人体肌肉的努力。然而，大多数辅助服体积庞大，价格昂贵，需要外部电源，并且不切实际地携带到任何地方。我们提出了气动凝胶肌肉的发展，它可以通过非常低的空气压力驱动，并通过与商业上可用的人工肌肉比较，其特性。我们还讨论了一个不插电的动力服步行辅助，卸载肌肉的努力，使用气动凝胶肌肉的设计，证明辅助力可以不使用压缩机或空气罐。我们进行了实验，以测量各种压力范围的气动凝胶肌肉的特性，如驱动和施加的力。我们测量了下肢的表面肌电图与不插电动力服，以确定卸载效果的西装。
Abstract Assistive suits reduce human muscle effort by improving human motion. However, most assistive suits are bulky, are expensive, need external power sources, and are impractical to carry everywhere. We present the development of the pneumatic gel muscle, which can be actuated by very low air pressure, and its characteristics by comparing with a commercially available artificial muscle. We also discuss the design of an unplugged powered suit for walking assist that unloads the muscle effort using the pneumatic gel muscle, demonstrating that assistive forces can be applied without the use of a compressor or air tanks. We performed experiments to measure characteristics of the pneumatic gel muscle, such as the actuation and applied force, for various pressure ranges. We measured surface EMG of the lower limb with and without an unplugged powered suit to identify the unloading effect of the suit.