Abstract
This paper proposes the wearable mechanism composed of the tube type actuators designed from the aspect of the clothing comfort. First, Wound Tube Actuator is proposed with the suitable structure to be mounted on the human body, which has the linear spring performance. Second, the mechanism of Wire-Expander driven by WTA is discussed which helps to drive the single bent joint like the elbow with large torque and large work space. Third, the mechanism of Tail-arm is shown as the bidirection driving by using two sets of WTA. And finally, the mixed mechanism of several sets of Tail-arms is introduced so as to assist the upper limbs for the human body. The developed mechanism showed us they had enough torque to assist the human motion and had the desirable structure with the excellent clothing comfort
