1A1-B10 二関節筋パワーアシストスーツの研究 : 第2報 重量物保持モデルの開発(医療ロボティクス・メカトロニクス(1))

抄録

In this study, we develop a power assist suit adapted to bi-articular muscles model. Before now we have already developed the leg mechanism of power assist suit adapted to bi-articular muscles model using parallel links. The leg mechanism of power assist suit adapted to bi-articular muscles model has high torque and safety from a series of experimental results. Therefore, we improve Power Assist Suit based on conventional leg mechanism confirmed the good efficiency. Furthermore the new model is able to hold 10kgf weight as a result of mechanical improvement. In addition, we consider distinction method by Neural network with electromyography control.