Flexible Fabric Actuator Realizing 3D Movements Like Human Body Surface for Wearable Devices
Flexible Fabric Actuator Realizing 3D Movements Like Human Body Surface for Wearable Devices
复制标题
柔性织物致动器为可穿戴设备实现类似人体表面的 3D 运动
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Yuki Funabora
中科院分区：
文献类型：
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作者：
Yuki Funabora
提出了一种实现可穿戴设备三维运动的柔性织物作动器。这种驱动器必须重量轻，高度灵活，产生高度自由的运动，以辅助/跟随人类的自然运动。在对织物作动器结构和控制系统进行改进的基础上，开发了具有连续控制功能的柔性织物作动器。本文提出了柔性橡胶条上人造细肌肉的新构型、平滑控制织物致动器的连续控制系统，以及用较少的肌肉量实现人体六种基本运动（前后弯曲、左右弯曲、左右扭转）的控制方法。实验结果表明，所提出的织物执行器编织薄McKibben人造肌肉的可能性是一种可行的技术，可用于可穿戴设备。
A new flexible fabric actuator realizing three dimensional movements for wearable devices is proposed in this paper. Such actuators must be lightweight and highly flexible, producing movements with high degree of freedom to assist/follow human natural motions. Improving the structure and control system of a fabric actuator from the previous research, the flexible fabric actuator with continuous control is developed. This paper presents new configuration of thin artificial muscles on a flexible rubber swath, a continuous control system to control the fabric actuator smoothly, and control methods to realize six basic movements of human body (forward and backward bends, left and right bends, left and right twists)with less number of muscles. The experiment results indicate the possibility that the proposed fabric actuator woven thin McKibben artificial muscles is a viable technology for use in wearable devices.