Motion-based design of elastic belts for passive assistive device using musculoskeletal model
Motion-based design of elastic belts for passive assistive device using musculoskeletal model
复制标题
基于肌肉骨骼模型的被动辅助装置弹性带的运动设计
DOI：
10.1109/robio.2011.6181475
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
M. Yamanaka
中科院分区：
文献类型：
--
作者：
Yumeko Imamura;Takayuki Tanaka;Yoshihito Suzuki;Kazuki Takizawa;M. Yamanaka
我们正在开发一个被动助力支持者称为智能西装建兴。Smart Suit Lite是一款利用弹性带弹力的紧凑轻便动力辅助装置。为了设计Smart Suit Lite，我们开发了基于运动的辅助方法和扩展的肌肉骨骼模型。采用基于运动的辅助方法，利用目标运动与相应肌肉力之间的关系，设计弹性带的布置和性能。为了分析弹性带提供的辅助力，代表人体表面的皮肤段具有扩展的肌肉骨骼模型，并且可以再现身体表面的长度随着姿势的变化而变化。在这项研究中，我们使用所开发的方法为护理人员生产Smart Suit Lite。此外，通过试验实验，我们发现，穿着舒适性是强烈相关的辅助感知用户。因此，我们从佩戴舒适性方面对Smart Suit Lite进行了改进，并验证了该设备提供的辅助功能的增强。在用户测试中，90%的参与者报告在护理工作期间下背部的负荷减少。
We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite is a compact and lightweight power assist device that utilizes the elastic force of elastic belts. To design the Smart Suit Lite, we developed a motion-based assist method and an extended musculoskeletal model. The motion-based assist method was used to design the arrangements and properties of the elastic belts by utilizing the relation between the target motions and the corresponding muscle forces. To analyze the assistive forces provided by the elastic belts, skin segments that represent the surface of the human body features the extended musculoskeletal model and can reproduce changes in length of the body surface with changes in posture. In this study, we used the developed method to produce the Smart Suit Lite for care workers. Furthermore, through a trial experiment, we found that wear comfort was strongly correlated with the assistance perceived the user. Thus, we have improved the Smart Suit Lite from the aspect of wear comfort, and verified the enhancement of the assistance provided by the device. In user testing, 90% of the participants reported a decrease in load on the low back during care work.