2A1-E07 筋骨格モデルに基づく介護用スマートスーツ・ライトの開発と実フィールド評価(ウェアラブルロボティクス)

概要

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We are developing a passive power assist supporter "Smart Suit Light". The smart suit light is a compact and lightweight power assist device utilizing elastomeric force of elastic materials. We constructed Motion-based-assist method to design the smart suit light for particular motions. Moreover, we developed an extended musculoskeletal model which has skin segments for analyzing assist force. In this paper, we deal with care motions as target movement. From three-dimensional motion data and the extended musculoskeletal model, we analyzed human muscle forces and assist forces. Then we designed arrangement and property of the elastic materials based on Motion-based-assist method. Furthermore, its assist effect was verified by basic experiments.
一般社団法人日本機械学会の論文
2011-05-26