Development of 2-DOF Jump Amplifying Device using Pneumatic Artificial Rubber Muscle

Abstract

Researches on the wearable power assist device has flourished in recent years. In previous study, we paid our attentions to jump movement in particular and developed a SDF prototype of the device amplifying the knee ability for jumping motion. We conducted modeling and experiments to investigate leap characteristics of the equipment alone and confirmed the validity of modeling 1 DOF prototype. However, we would speculate that ankles play the important role in jumping motion of human. Thus, in this study, we propose new model of the device and report a characteristic and fundamental experiment of the TDF prototype we developed.