背面荷重補償のための簡易型四足歩行パワーアシストスーツの検討

抄録

A power exoskeleton (PE) is a wearable device to assist human muscles. We have been developing a PE capable of carrying a heavy load on operator’s back. However, the PE has to make operator’s motion awkward and consume battery power by the unbalanced load. In this study, in order to solve these problems, we propose a new PE mechanism with quadruped walking legs. In this paper, we introduce a fundamental concept of the mechanism and design a prototype. Then, we construct a prototype and perform experiments to show the effectiveness of the proposed mechanism.