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JRM Vol.17 No.5 pp. 568-574
doi: 10.20965/jrm.2005.p0568
(2005)

Paper:

Development of Pneumatic Power Assist Splint “ASSIST” Operated by Human Intention

Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa

Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Okayama 700-8530, Japan

Received:
May 13, 2005
Accepted:
June 24, 2005
Published:
October 20, 2005
Keywords:
soft mechanism, soft actuator, pneumatic rubber muscle, wearable robot
Abstract

The purpose of this study is to develop a pneumatic power assist splint for a human arm. In the wearable device, a high human friendliness such as a light weight, a safety is required. The developed splint is constructed with soft actuators to confer a human friendliness. In this paper, the structure of ASSIST for a human arm is described. In addition, the control method based on a human intention is proposed. In the proposed method, a center of pressure calculated from contact force between the forearm and appliance is used as an intention input signal. Finally, the effectiveness of ASSIST is evaluated using EMG.

Cite this article as:
Daisuke Sasaki, Toshiro Noritsugu, and Masahiro Takaiwa, “Development of Pneumatic Power Assist Splint “ASSIST” Operated by Human Intention,” J. Robot. Mechatron., Vol.17, No.5, pp. 568-574, 2005.
Data files:
References
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