抄録
This paper proposes the wearable mechanism composed of the tube type actuators designed from the aspect of the clothing comfort. At first, we tried to improve Tail-arm, which we had already proposed, to be able to assist the lower limb exercise. But it can't generate enough torque. So we propose new driving mechanism. This mechanism uses Z-tube Actuator, which can generate directly torque. The developed mechanism showed us it had enough torque to assist the lower limb exercise and had the desirable structure with the excellent clothing comfort.
