Development of non-invasive wearable artificial actuator for transfer assistance site of the elderly

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1. Not only the caregivers, but also the elderly with the increase of age, the function of all aspects of the body declines, gradually unable to take care of themselves, and the mental pressure is increasing. In addition to physical assistance, we also considered the use of custom-designed hair balls, which proved to have a positive effect on the user's own mental health.2. During the standing up movement, the angles and the center of gravity of the hip, knee, and ankle joints were measured by X-sens.　The data obtained when standing up and sitting down normally are set as ideal values, and the data obtained when wearing elderly simulated suits are set as actual values. The stance support control algorithm is set up and discussed, then imported into Choreonoid for simulation. Choreonoid comes standard with dynamic simulation and motion choreography.3. We have conducted a 5m walk test, using the center of gravity, walking speed, stride and other indicators to evaluate. We are still considering and setting up the physics that are highly relevant to the assist effect in order to tie up the whole action of walking after standing up.4. We discussed the internal structure of the soft actuator as artificial muscle. When the internal structure changes to form a reaction mechanism, it can be made to form 2 or more degree of freedom. In addition, considering the inherent viscoelasticity, high affinity to the human body, and similar properties to human muscle, the required specifications for the artificial muscle were determined, and the force on the top was measured.