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JRM Vol.16 No.5 pp. 504-512
doi: 10.20965/jrm.2004.p0504
(2004)

Paper:

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Realization of All 7 Motions for the Upper Limb by a Muscle Suit

Hiroshi Kobayashi*,**, Taichi Shiiba*, and Yujiro Ishida*

*Dept. of Mechanical Engineering, Science University of Tokyo, 1-3 Kagurazaka, Shinjuku, Tokyo 162-8601, Japan

**JST, PRESTO21, 4-1-8 Honchou, Kawaguchi, Saitama, Japan

Received:
March 17, 2004
Accepted:
May 21, 2004
Published:
October 20, 2004
Creative Commons License
Keywords:
muscle suit, wearable robot, McKibben artificial muscle, power assist, upper limb motion
Abstract
A “muscle suit” that provides muscular support for those paralyzed or otherwise unable to move unaided is being developed. The absence of a metal frame and use of McKibben artificial muscles makes the suit lightweight enough for practical use. We propose an armor-like suit and abduction motion is realized. Because it is difficult to implement all upper limb motion in an armor-like suit, we use mechanical joints and a hard frame and all motion is achieved for the upper limb.
Cite this article as:
H. Kobayashi, T. Shiiba, and Y. Ishida, “Realization of All 7 Motions for the Upper Limb by a Muscle Suit,” J. Robot. Mechatron., Vol.16 No.5, pp. 504-512, 2004.
Data files:
References
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