Development of Wearable Master-slave Upper Limb Training Device Using Pneumatic Artificial Muscle

Abstract

The purpose of this study is to develop a wearable master-slave upper limb training device, which can be used to a passive training for a trainee who cannot move by oneself. Developed device has 7 D.O.F by using three kinds of pneumatic artificial muscles, which are chosen as suitable actuators to move each human joint. In this paper, cooperated movements are experimented to verify a capability of slave device. It is confirmed from the result that a subject who uses the slave device can follow the trainer movement. Therefore, this device may be possible to train all upper limb joints independently and cooperatively.