Development of Active Support Splint Driven by Pneumatic Soft Actuator (ASSIST)

Daisuke Sasaki; Toshiro Noritsugu; Masahiro Takaiwa

doi:10.20965/jrm.2004.p0497

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JRM Vol.16 No.5 pp. 497-503

doi: 10.20965/jrm.2004.p0497

(2004)

Paper:

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Development of Active Support Splint Driven by Pneumatic Soft Actuator (ASSIST)

Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa

Faculty of Engineering, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan

Received:

March 8, 2004

Accepted:

May 20, 2004

Published:

October 20, 2004

Keywords:

wearable robot, pneumatic, rubber muscle

Abstract

In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. McKibben type pneumatic rubber muscles are on the both sides of rotary-type soft actuators for relieving a restrained feeling when the device is not operated. In this paper, the structure of ASSIST is described, and then the effectiveness of this splint is experimentally discussed based on the experiments for movable range assist for the wrist.

Cite this article as:

Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa, “Development of Active Support Splint Driven by Pneumatic Soft Actuator (ASSIST),” J. Robot. Mechatron., Vol.16, No.5, pp. 497-503, 2004.

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References

[1] K. Kiguchi, T. Tanaka, K. Watanabe, and T. Fukuda, “Exoskeleton for Human Upper-Limb Motion Support,” Proc. of the 2003 IEEE International Conference on Robotics & Automation, pp. 2206-2211, 2003.
[2] K. Nagai, I. Nakanishi, and H. Hanafusa, “Assistance of Self-Transfer of Patients Using a Power-Assisting Device,” Proc. of the 2003 IEEE International Conference on Robotics & Automation, pp. 4008-4015, 2003.
[3] T. Noritsugu, D. Sasaki, and M. Takaiwa, “Application of Pneumatic Soft Mechanism to a Human Friendly Robot,” Proc. of the 2003 IEEE International Conference on Robotics & Automation, pp. 2188-2193, 2003.
[4] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Pneumatic Soft Robot Hand for a Human Friendly Robot,” Journal of Robotics and Mechatronics, Vol.15, No.2, pp. 164-171, 2003.
[5] T. Noritsugu, D. Kaneshiro, and T. Inoue, “Soft Planar Actuator using Pneumatic-Rubber Balls,” Journal of Robotics and Mechatronics, Vol.12, No.3, pp. 254-260, 2000.
[6] T. Noritsugu, M. Kubota, and S. Yosimatsu, “Development of Pneumatic Rotary Soft Actuator Made of Silicone Rubber,” Journal of Robotics and Mechatronics, Vol.13, No.1, pp. 17-22, 2001.

[1] [1] K. Kiguchi, T. Tanaka, K. Watanabe, and T. Fukuda, “Exoskeleton for Human Upper-Limb Motion Support,” Proc. of the 2003 IEEE International Conference on Robotics & Automation, pp. 2206-2211, 2003.

[2] [2] K. Nagai, I. Nakanishi, and H. Hanafusa, “Assistance of Self-Transfer of Patients Using a Power-Assisting Device,” Proc. of the 2003 IEEE International Conference on Robotics & Automation, pp. 4008-4015, 2003.

[3] [3] T. Noritsugu, D. Sasaki, and M. Takaiwa, “Application of Pneumatic Soft Mechanism to a Human Friendly Robot,” Proc. of the 2003 IEEE International Conference on Robotics & Automation, pp. 2188-2193, 2003.

[4] [4] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Pneumatic Soft Robot Hand for a Human Friendly Robot,” Journal of Robotics and Mechatronics, Vol.15, No.2, pp. 164-171, 2003.

[5] [5] T. Noritsugu, D. Kaneshiro, and T. Inoue, “Soft Planar Actuator using Pneumatic-Rubber Balls,” Journal of Robotics and Mechatronics, Vol.12, No.3, pp. 254-260, 2000.

[6] [6] T. Noritsugu, M. Kubota, and S. Yosimatsu, “Development of Pneumatic Rotary Soft Actuator Made of Silicone Rubber,” Journal of Robotics and Mechatronics, Vol.13, No.1, pp. 17-22, 2001.