Hydraulic Artificial Muscle-Powered Knee Support Wearable Device with Four-bar Linkage Mechanism

• KITTISARES Sarin

  Tokyo Institute of Technology

• NABAE Hiroyuki

  Tokyo Institute of Technology

• ENDO Gen

  Tokyo Institute of Technology

• SUZUMORI Koichi

  Tokyo Institute of Technology

• SAKURAI Ryo

  Bridgestone Corporation

• OHNO Shingo

  Bridgestone Corporation

抄録

Hydraulic cylinders have been selected as actuator in earlier exoskeletons due to low weight and high force density. In this paper, we propose a knee exoskeleton using Hydraulic Artificial Muscle (HAM) and four-bar knee joint mechanism. The HAM has similar advantages to hydraulic cylinders, but lighter and compliance, making it suitable for wearable robot applications. To allow the device to better comform to human knee kinematics, a four-bar linkage mechanism was utilized. The human knee biomechanics is a combination of rolling and sliding on the condyle, which can be emulated using four-bar linkage. To adapt the HAM to the link mechanism, we proposed and Angled Bar as a modification to the existing mechanism. The Angled Bar adjusts the torque output and motion range of the proposed device.

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 2020 (0), 2P1-C08-, 2020

  一般社団法人 日本機械学会

キーワード

• artificial muscle
• wearable
• hydraulics
• exoskeleton

詳細情報

• CRID: 1390004951545239552
• NII論文ID: 130007944246
• DOI: 10.1299/jsmermd.2020.2p1-c08
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2020/0/2020_2P1-C08/_pdf
• 本文言語コード: en
• 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