학술논문
Development of an exoskeleton with variable viscoelasticity and clutch composed of antagonized artificial muscle and magneto-rheological fluid brake -Verification of the effectiveness of proposed method with prototype for knee assistance- / 空気圧人工筋肉と磁気粘性流体を用いた可変粘弾性特性とクラッチを有する外骨格アシストスーツの開発
Document Type
Journal Article
Author
Source
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2016, :2-13b1
Subject
Language
Japanese
ISSN
2424-3124
Abstract
In this study, a novel actuation system for an exoskeleton with a variable viscoelastic joint and clutch was proposed. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). This system enabled the exoskeleton to retain structural softness when compared with the existing exoskeletons driven by motor and reduction gear, which could only achieve superficial softness. In addition, a clutch system that provided high back-drivability to the wearer by structurally separating the exoskeleton from the wearer was proposed. As an initial step in designing the exoskeleton, a knee exoskeleton with the proposed system and its control method were developed in this study. Furthermore, experiments were conducted to confirm the influence of the proposed viscoelastic system on the wearer and the effectiveness of the clutch system.