Wearable unloading device based on motion support technology

基于运动支撑技术的可穿戴卸载装置

• 批准号: 24650381
• 负责人: HASEGAWA Yasuhisa
• 金额: $ 2.5万
• 依托单位: University of Tsukuba
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Challenging Exploratory Research
• 财政年份: 2012
• 资助国家: 日本
• 起止时间: 2012-04-01 至 2014-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-24650381/
• 关键词: 走行支援; 受動機構; 走行; 支援; 外骨格; 心拍; Assistive device; Running

We conducted two experiments to investigate the relationship between the assist force and heart rate and between mass of the exoskeleton and heart rate. From the results of these experiments, we set design objectives and develop the running assist exoskeleton which is called as PEXER V. PEXER V assists upper body mass through waist belt and strap over the crotch. The mass is 2.8[kg] that is light weight enough to reduce 11[%] in heart rate during 6[km/h] running. PEXER V adapts a mechanism assisting a stance leg. The mechanism locks itself in the stance phase and transmits the assist force from the leaf spring to wearer's body. The mechanism unlocks and allows PEXER V to follow the leg motion in the swing phase. The mechanism is controlled based on the estimation of the running-phase. Through the hopping experiment as evaluation of PEXER V in the stance phase, we confirm that PEXER V decreased 16[%] in heart rate during 2.2[Hz] hopping.

我们进行了两个实验来研究辅助力与心率的关系以及外骨骼质量与心率的关系。根据这些实验结果，我们设定了设计目标并开发了PEXER V.跑步辅助外骨骼。PEXER V通过腰带和裤裆上的带子辅助上身质量。重量为2.8[kg]，重量轻到足以在6[km/h]跑步时降低11%[%]的心率。PEXER V采用了一种辅助站立腿的机制。该机构将自身锁定在站立阶段，并将辅助力从钢板弹簧传递到佩戴者的身体。该机构解锁并允许PEXER V在摆动阶段跟随腿部运动。基于运行阶段的估计对机构进行控制。通过跳跃实验评价PEXER V在站立阶段，我们证实了PEXER V在2.2[Hz]跳跃时心率降低了16%。

项目成果

First Report on Passive Exoskeleton for Easy Running: PEXER IV

第一份关于轻松跑步的被动外骨骼的报告：PEXER IV

• 发表时间: 2013
• 作者: Yasuhisa Hasegawa;Keiichi Ogura
• 通讯作者: Keiichi Ogura

First Report on Passive Exoskeleton for Easy Running : PEXER IV

第一份关于轻松跑步的被动外骨骼的报告：PEXER IV

• 发表时间: 2013
• 作者: Terai;K. Shimo;T.;& Umezawa;A.;梅沢章男;梅沢章男;寺井堅祐・黒原彰・梅沢章男;寺井堅祐・梅沢章男;反中亜弓・寺井堅祐・梅沢章男;寺井堅祐・黒原彰・梅沢章男;寺井堅祐・反中亜弓・梅沢章男;寺井堅祐・反中亜弓・梅沢章男;寺井堅祐・黒原彰・梅沢章男;黒原彰・反中亜弓・寺井堅祐・梅沢章男;寺井堅祐・反中亜弓・梅沢章男;反中亜弓・寺井堅祐・梅沢章男;山口義彦,佐野忍,水内猛,菊原伸郎;山口義彦，佐野忍，水内猛，菊原伸郎;吉田和人，山田耕司，玉城将，内藤久士，加賀勝;吉田和人，山田耕司，玉城将，池袋晴彦，加賀勝;吉田和人，山田耕司，玉城将，内藤久士，加賀勝;吉田和人，玉城将，山田耕司;中野浩一;中野浩一;中野浩一;Yasuhisa Hasegawa and Keiichi Ogura
• 通讯作者: Yasuhisa Hasegawa and Keiichi Ogura