Abstract
In this paper, we propose the upper limb power assistant device of using rubberless artificial muscle. This device is actuated by the rubberless artificial muscle. This device assist the operation of the human elbow flexion. We aims that this power assist device can assist the operation of elbow flexion the same trend with human. EMG signal of the elbow flexion operation is represented by a function of the elbow flexion joint angle. We make the input signal of the rubberless artificial muscle using this EMG signal. The power assist device is driven by this input signal. We experimented that the target assistance was performed. As a result, we confirmed that this power assist device can assist the operation of elbow flexion the same trend with human.
