Wire-Driven Extend Wearable Robot Vlimb: Coexistence Body and Object Manipulation

Abstract

Today, robots are able to perform actions that exceed human physical capabilities. On the other hand, body-enhancing wearable robots have not been able to perform the same functions as limbs. The reason is that the higher the performance of the robot, the heavier it becomes which makes it impossible for a person to carry it. In this study, we propose a body augmented wearable robot, Vlimb, which has both strength and range of motion by using a wire drive and changing the point of articulation to realize limb-like motion. Vlimb has 5-DOFs, a wide range of motion, and can not only manipulate objects, but also successfully lifts 60 kg, the average weight of an adult male.