603 Development of Power Assist Suit : Development of wrist units and improvement of waist unit

Abstract

New power assisting suit consisting of wrists, shoulders, arms, a back, a waist, a hip and legs units was developed. The distance between the joints of the waist joint and the hip joint of the suit was shortened to that of the wearer. Link mechanism was slimed by using belts. The movable angle for external rotation of leg unit was increased. The validity of the newly developed wrist unit and the improved waist and hip unit was proved experimentally.