3A1-S05 ヒューマノイドロボットによるパッシブ筋力補助装置スマートスーツ・ライトの効果検証(ウェアラブルロボティクス)

• 今村 由芽子

  北大

• 田中 孝之

  北大

• 吉田 英一

  産総研

書誌事項

タイトル別名

• 3A1-S05 Validation of Passive Power-Assist Device Smart Suit Lite Using Humanoid Robot(Wearable Robotics)

抄録

We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite reduces lumbar load by utilizing the elastic force of elastic belts. In this research, we performed basic experiment that evaluates effect of reduction in joint torque by using humanoid robot HRP-4C. The humanoid robot has high reproducibility of the motion, and its joint torques are able to be measured easily. In the result of the experiment, we observed a clear decrease of the lumbar torque when wearing the device during lifting motion. Furthermore, because the correlation were found between the decrement of torque, assist force and joint angle, it was confirmed that the assist mechanism of Smart Suit Lite are realized as designed in terms of joint torques.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _3A1-S05_1-_3A1-S05_2, 2014

  一般社団法人 日本機械学会

キーワード

• power assist
• humanoid robot
• biomechanics

詳細情報

• CRID: 1390001205937344384
• NII論文ID: 110009967132
• DOI: 10.1299/jsmermd.2014._3a1-s05_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__3A1-S05_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可