1P1-O07 ウエアラブルロボットのためのフレキシブルアクチュエータの開発(ウェアラブルロボティクス)

概要

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This paper describes the development of a new flexible actuator for wearable robots. Some of pneumatic actuators are developed for actuating the wearable robots and the artificial limbs. These pneumatic actuators give the special structures with giving the strong pull of the elements like the conventional McKibben type artificial muscles etc. in the robot. A new type of pneumatic flexible artificial muscle actuator (abbreviated PFAMA) is consisted of the inner and the outer tubes. The inner tube is made of coming into inwards curve from outside of the outer tube by the pneumatic actuation and the outer tube is provided with holding the column shape for the tube not to increase in the radial direction of inner tube. Therefore, the inner tube extends the tube length as the displacement in the axial direction of the PFAMA. The experimental results indicate the fundamental results.
2007-05-11