可変粘弾性関節を有する膝用アシスト装置の開発と主観評価

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  • Development and Subjective Evaluation of Assist Equipment for Knee with Variable Viscoelastic Joint
  • ―バックドライバビリティ性の評価―
  • -Evaluation of Back-drivability-

抄録

<p>Working population decreases because of the aging society. Therefore the workload per person increases. To solve this problem, assist suit is studied activity. This study has proposed a new actuation system with variable viscoelastic joint for an exoskeleton assist suit. This variable viscoelastic joint system is composed of antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). The system enables assist suit to have structural softness and high back-drivability. This paper evaluated back-drivability of the system. So, organoleptic evaluation experiment which compares variable viscoelastic joint system to actuation system with motor and reduction gear was conducted. As a result, high back-drivability of variable viscoelastic joint system was confirmed.</p>

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