Paper Info
Title
Development of pneumatic lower limb power assist wear driven with wearable air supply system
Abstract
Many kinds of power assist device have been developed, and are driven with various actuators such as an electric motor, a hydraulic cylinder and so on. By using the exoskeleton, a high generated torque actuator can be introduced. An assist performance of these devices becomes high. On the other hand, a realization of exoskeleton which has the same D.O.F of a human is not easy from considerations about a size and strength of device. In this study, the power assist wear for lower limb is developed. The developed wear is like trousers. A human can be assisted by just wearing trousers on which the pneumatic soft actuators are put. The pneumatic soft actuator has a high power weight ratio, and has a light weight. These features contribute to realize the simple structure which is like clothes. In this paper, the structure of power assist wear is discussed, and the application of power assist wear to assist going up and down stairs are described.
Year
DOI
Venue
2013
10.1109/IROS.2013.6696994
Intelligent Robots and Systems
Keywords
Field
DocType
electric motors,hydraulic actuators,medical robotics,pneumatic systems,electric motor,exoskeleton,hydraulic cylinder,pneumatic lower limb power assist wear,pneumatic soft actuators,power assist device,torque actuator,wearable air supply system
Torque,Pneumatic actuator,Computer science,Lower limb,Wearable computer,Mechanical engineering,Control engineering,Exoskeleton,Electric motor,Actuator,Hydraulic cylinder
Conference
ISSN
Citations 
PageRank 
2153-0858
5
0.57
References 
Authors
2
3
Name
Order
Citations
PageRank
Daisuke Sasaki12910.55
Toshiro Noritsugu29229.49
Masahiro Takaiwa35817.84