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Development of human friendly wearable power assist device extending and supporting body operation

开发人性化可穿戴助力装置延伸支撑身体操作

基本信息

批准号：
16360124
负责人：
NORITSUGU Toshiro
金额：
$ 7.36万
依托单位：
Okayama University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2006
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-16360124/
关键词：
Pneumatic rubber artificial muscle Wearable power assist Robot Muscle support Nursing assist Muscle string Small-sized air pump Voice input Muscle string 小型コンプレッサ腰動作支援股装具

项目摘要

The wearable power assist devices to assist operation in daily life by supplementing muscular power to which the senior people and the physically handicapped were developed. Safety and human friendlinese to the human are requested to the wearable power assistance device. Therefore, a small, light-weight and soft pneumatic rubber artificial muscle is used as an actuator that drives a wearable device.First, to support basic nursing work, the power assist device for the waist operation was developed. It is constructed by installing the contracted curved type rubber artificial muscles in existing waist equipment The pressure control method of the rubber artificial muscles to generate the appropriated assist force is clarified. And the communication method with a tactile sensor between the device and human intention was proposed.Next, the thin and long pneumatic rubber artificial muscle (named muscle string) was developed. By using the muscle string, a clothes type power assist wear as an active supporter with a changeable tightening force, the wrist, the elbow and the shoulder operation assist devices were developed, of which effectiveness was confirmed.In addition, the availability of voice input was confirmed to control the power assist device. The neural net work was introduced to overcome the slurring speech. Further the evaluation of the assist performance using the myogenic voltage was executed. The specification of small sized air pump the wearable power assist device was considered.

针对老年人和身体残障人士开发的可穿戴式助力装置，通过补充肌肉力量来辅助日常生活操作。可穿戴式助力装置要求安全性和人性化。因此，采用体积小、重量轻、柔软的气动橡胶人工肌肉作为驱动可穿戴设备的执行器。首先，为了支持基础护理工作，开发了腰部手术助力装置。它是在现有的腰部器械上安装收缩弯曲型橡胶人工肌肉而构成的。明确了橡胶人工肌肉的压力控制方法，以产生适当的辅助力。并提出了利用触觉传感器在设备和人类意图之间进行通信的方法。接下来，开发了细长的气动橡胶人工肌肉（称为肌肉串）。通过使用肌肉绳，开发了一种衣服式动力辅助穿戴作为具有可变束紧力的主动支撑器，手腕、肘部和肩部操作辅助装置，其有效性得到了证实。此外，还确认了语音输入来控制动力辅助装置的可用性。引入神经网络工作来克服口齿不清的问题。进一步执行使用肌源电压的辅助性能的评估。考虑了小型气泵可穿戴助力装置的规格。