体幹回旋支援を目的としたソフトアクチュエータ駆動型ウェアラブル装置の開発

DOI Web Site

書誌事項

タイトル別名
  • Development of Wearable Device Driven with Pneumatic Soft Actuator for Trunk Rotation

抄録

<p>Lack of muscle strength due to aging causes reduction of stable gait motion. Rehabilitation for the recovery of trunk motion during walking and muscle strength are important to obtain stability of walking. In this study, we developed wearable device which can correct a posture and assist trunk rotation to support exercise therapy for people declined in ability of walking. Proposed device is composed of some resin parts with built-in ball bearing structure and pneumatic soft actuator such as McKibben type artificial muscle and bellows. The mechanism of proposed device imitates spine structure to realize adjustable stiffness characteristics. In this paper, the mechanism for rotation assist and drive principle of device are described. The extension characteristic of pneumatic bellows is confirmed to estimate assisting torque. Finally, the validity of proposed mechanism was confirmed from experiment result.</p>

収録刊行物

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ