Quantitative Performance Analysis of Exoskeleton Augmenting Devices – Muscle Suit – for Manual Worker
Yoshiki Muramatsu, Hiroyuki Kobayashi, Yutaka Sato,
He Jiaou, Takuya Hashimoto, and Hiroshi Kobayashi
Department of Mechanical Engineering, Tokyo University of Science, 1-14-6 Kudankita, Chiyoda-ku, Tokyo 102-0073, Japan
Exoskeleton systems have been largely developed in spite that quantitative performance estimation has not been reported so far. Consequently, we have been developing the wearable muscle suit for direct and physical motion supports with relevant reports on the performance. The McKibben artificial muscle has introduced “muscle suit” compact, lightweight, reliable, and wearable “assist-bots” enabling users to lift and carry heavy objects. Applying integral electromyography (IEMG), we show the results of quantitative suit performance and posture-preserving efficiency. However, for practical use, lifting seems to be one of the most important tasks for users. We improve the forearm so that the muscle suit assists the user in vertical lifting. Load carrying and lifting experiments show the muscle suit’s effectiveness.
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