A Flexible Power Assist Suit driven by Hydrostatic Skeleton

Abstract

This study proposes a flexible power-assist suit using a hydrostatic skeleton driving mechanism. For the purpose of a flexible, safe and slip-on system, the power-assist suit consists of a commercially available working cloth and a flexible actuator system. With this system, a dedicated handy controller is newly manufactured, and the power units such as compressor and battery are installed within a backpack to realize a portable system. The suit supports the motions of upper arm lifting, the elbow expansion and contraction. This paper describes a prototype suit system and its experiment. The total weight of the system realizes extremely light weight, approximately 3 kg. Moreover, the suit has achieved all the proposed motion.