Development and Application of Power Assist Device for Upper Limb Using Gravity Compensation Mechanism

Abstract

The purpose of this study is to develop a lighter and smaller power assist device that can assist the user’s arm to reduce burden on workers. The power assist device consists of a spring and a linkage mechanism in order to use a passive gravity compensation mechanism. In this paper, we used a spring without power supply. The spring is used to adjust the posture of the device. The effectiveness of the proposed power assist device is verified by the result of the experiments.