ウェアラブルリフタのための関節機構の開発

抄録

This paper addresses the development of a wearable lifter for supporting load lifting work of people who are powered by artificial muscle. In order to drive this devices we use a wearer's joint acceleration estimate to improve the response to physical motion. Although not fixed at all with respect to the upper limb so as not to hinder the operation of the device and the wearer, torque transmission loss occurs due to the deviation of the joint axis. Therefore, in this paper, the wearable lifter frame that supports people's luggage lifting work was duplicated, such as the outer exoskeleton performing the physical work and the inner exoskeleton fixed to the body and measuring the motion of the wearer. We developed and evaluated a joint mechanism that wearers can operate without being interfered with the outer exoskeleton by connecting them with a differential gear.