학술논문
Development of an exoskeleton with variable viscoelasticity composed of antagonized artificial muscle and magneto-rheological fluid brake -Development of lower exoskeleton 'Airsist I'- / 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). 2017, :1-K08
Subject
Language
Japanese
ISSN
2424-3124
Abstract
In this study, a variable viscoelastic joint system comprising antagonized artificial muscles and magneto-rheological fluid brakes is proposed. This system enables human assisting devices such as robotic exoskeletons to retain structural softness when compared with the existing devices driven by motors and reduction gears, which can only achieve superficial softness. The authors had proposed the system and showed its effectiveness via experiments using a prototype with one degree of freedom in their previous works. In this study, as the next step in designing the human assisting device, a lower body assistive prototype “Airsist I” is introduced. In addition, a control method that can cooperate with the wearer without the need for an additional operation is proposed.