UVGを用いた吸着型アシストスーツによる天井移動の支援機構の開発

抄録

In recent years, the power assist suits have been proposed in several fields. In this work, we propose the novel assist suit for climbing the wall and moving along ceiling. With this support, the works at high places and rescue activities can be performed efficiently. In order to achieve these supports, we developed adsorption type assist suit with two functions. The first function is the adsorption mechanism on the wall and ceiling. For this purpose, we used Universal Vacuum Gripper, in short UVG, which is a vacuum suction cup that can be adsorbed even on uneven surfaces. The second function is a mechanism that assists the movement to lift the body when climbing and moving the ceiling surface. So, we use Makibben type artificial muscle and assist the wearer. In this paper, we report on development status and performance test of adsorption type assist suit.