Development of Wearable Waist Power Assist Device Using Curved Pneumatic Artificial Rubber Muscle

Abstract

This Study focuses on the development of a safe power assist device that supports hip motion in those people who do not have the full range of such motion using an artificial curved pneumatic rubber muscle and wearable garment. Soft texture and lightness of weight allow the power-assist device to be worn directly on the body similar to a coat. The device is soft and fits easily on the body. The artificial rubber muscle is fixed on the outfit. The device is safe and greatly mitigates the burden to the body. A soft touch-sensor activates the device automatically. The soft touch-sensor consists of fifty silicone rubbers cylinders that are fixed on two acrylic boards. The sensor sets between the garment and the back of the body. A Tilt-angle sensor fixed on the upper part of a link connects with rod of outfit. The angle of torso tilt determines the pressure desired for the artificial rubber muscle. The soft touch-sensor and tilt-angle sensor provide communication between the entire system and the human body. Analyses of the experimental data prove the support efficiency of the proposed power assist device.