Development of Wearable Master-Slave Device for Upper Limb Constructed with Pneumatic Rubber Muscles

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  • 空気圧ゴム人工筋を用いた上肢動作支援ウェアラブルマスタスレーブ装置の開発
  • クウキアツ ゴム ジンコウキン オ モチイタ ジョウシ ドウサ シエン ウェアラブルマスタスレーブ ソウチ ノ カイハツ

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In this study, a bilateral type pneumatic wearable master-slave device has been developed in order to feed back a force information to the trainer. Developed device is constructed with a master and a slave device using pneumatic rubber muscles. By feeding back the reaction torque to a torque control system of the master device, a master device user can feel the reaction torque from the slave. In this paper, the structure of the developed device, the fundamental characteristics of device are discussed, and then the validity of the developed device is evaluated from the fundamental experiments.

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