電動パワーアシストスーツの小型化と駆動制御に関する研究

抄録

Declining birthrate and aging society means increasing in older workers or care receivers, and decreasing in young workers or caregivers. As the countermeasure, research for development of wearable robot is carried out in many places. Muscle suit that has high power and high compliance is one of the research results. However, we considered muscle suit has some weaknesses, for example, it needs air compressor or tank and has low controllability because it is pneumatic. Therefore, we focused on the structure of back support muscle suit and make a study on downsizing and drive control complying operating intention with motorizing. In this paper, we report the development of the prototype of motorized muscle suit and auto assist system using IMU.