Verification of Permissible Resistance Torque Considering Back-Drivability for Exoskeleton Assist Suit

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  • 外骨格型アシストスーツにおけるバックドライバビリティ性を考慮した人が許容できる抵抗トルクの検証

Abstract

<p>Working population decreases because of the aging society. Therefore the workload per person increases. To solve this problem, wearable assist suit (WAS) is studied activity. So the authors propose novel WAS which has a clutch and a variable viscoelasticity joint. As first stage of the WAS development, relationship between resistance torque to knee and the discomfort the wearer experiences is investigated by a survey questionnaire experiment. Range of resistance torque to the knee which is acceptable in daily use for a wearer is declared. Moreover, the influence of resistant torque on a muscle of knee extension is considered and confirmed by measuring surface-electromyography.</p>

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