Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
In this study, a novel actuation system for an exoskeleton with a variable viscoelastic joint and clutch was proposed. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). This system enabled the exoskeleton to retain structural softness when compared with the existing exoskeletons driven by motor and reduction gear, which could only achieve superficial softness. In addition, a clutch system that provided high back-drivability to the wearer by structurally separating the exoskeleton from the wearer was proposed. As an initial step in designing the exoskeleton, a knee exoskeleton with the proposed system and its control method were developed in this study. Furthermore, experiments were conducted to confirm the influence of the proposed viscoelastic system on the wearer and the effectiveness of the clutch system.
