片側ばね拮抗関節に基づいた可変剛性アシスト装具の基礎特性評価

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  • Evaluation of basic characteristics of variable stiffness assist suit based on the one-sided spring antagonized joint

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<p>In this paper, a prototype of a joint in which a pneumatic artificial muscle and a tension spring are antagonistically arranged (one-sided spring antagonized joint) was developed, and the basic characteristics of the prototype were evaluated. The relationship between the torque and the angle of the prototype showed that torque increases as the angle increases (or vice versa). It was also found that the joint stiffness and the antagonized angle changed with each applied pressure. From these results, it was confirmed that the prototype showed the same behavior as the theoretical one-sided spring antagonized joint.</p>

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