Proposal of exoskeleton with variable viscoelasticity joint

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Other Title
  • 可変粘弾性特性を有する外骨格型アシストスーツの提案
  • （人工筋肉の拮抗配置のための省スペースプーリの開発）
  • (Development of space saving pulley for antagonized artificial muscle)

Abstract

<p>A variable viscoelastic joint system with a clutch for a human assistance is proposed in this research. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). This system enabled the human assisting device such as exoskeletons to retain structural softness when compared with the existing devices driven by motor and reduction gear, which could only achieve superficial softness. In this paper, a space saving pulley for antagonized pneumatic muscle is proposed. Generally, required assisting torque of human joints at flexion and extension are different. Therefore, adopting a step pulley is preferable when joints are driven by antagonized pneumatic muscle. However, a step pulley makes a joint system thicker and generates unnecessary torque. The proposed pulley resolve these problem by placing two antagonized wires in the same plane which is vertical to rotation axis of the pulley.</p>

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