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

Daisuke Sasaki; Toshiro Noritsugu; Masahiro Takaiwa

doi:10.20965/jrm.2005.p0568

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JRM Vol.17 No.5 pp. 568-574

doi: 10.20965/jrm.2005.p0568

(2005)

Paper:

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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:

D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Pneumatic Power Assist Splint “ASSIST” Operated by Human Intention,” J. Robot. Mechatron., Vol.17 No.5, pp. 568-574, 2005.

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References

[1] Ministry of Internal Affairs and Communications, “Statics of Japan 2004,” 2004 (in Japanese).
[2] K. Kiguchi, M. H. Rahman, and T. Yamaguchi, “Adaptation Strategy for the 3DOF Exoskeleton for Upper-Limb Motion Assist,” Proc. of the 2005 IEEE International Conference on Robotics & Automation, pp. 2307-2312, 2005.
[3] J. C. Moreno, F. J. Brunetti, J. L. Pons, J. M. Baydal, and R. Barber, “Rationale for Multiple Compensation of Muscle Weakness Walking with a Wearable Robotic Orthosis,” Proc. of the 2005 IEEE International Conference on Robotics and Automation, pp. 1926-1931, 2005.
[4] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Active Support Sprint Driven by Pneumatic Soft Actuator (ASSIST),” Journal of Robotics and Mechatronics, Vol.16, No.5, pp. 497-503, 2004.
[5] H. Kobayashi, H. Suzuki, and T. Hayashi, “A Muscle Suit for Muscular Support – Realization of All Motion for the Upper Limb,” 2004 1st IEEE Technical Exibition Based on Robotics and Automation Proceedings, CD-ROM, 2004.
[6] J. Kohara et al., “Measurement of human body,” Japan Publication Service, 1986 (in Japanese).
[7] M. Sato et al., “Human engineering numerical standard handbook,” Gihodo Shuppan Co., Ltd., 1999 (in Japanese).

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Ministry of Internal Affairs and Communications, “Statics of Japan 2004,” 2004 (in Japanese).

[2] [2] K. Kiguchi, M. H. Rahman, and T. Yamaguchi, “Adaptation Strategy for the 3DOF Exoskeleton for Upper-Limb Motion Assist,” Proc. of the 2005 IEEE International Conference on Robotics & Automation, pp. 2307-2312, 2005.

[3] [3] J. C. Moreno, F. J. Brunetti, J. L. Pons, J. M. Baydal, and R. Barber, “Rationale for Multiple Compensation of Muscle Weakness Walking with a Wearable Robotic Orthosis,” Proc. of the 2005 IEEE International Conference on Robotics and Automation, pp. 1926-1931, 2005.

[4] [4] D. Sasaki, T. Noritsugu, and M. Takaiwa, “Development of Active Support Sprint Driven by Pneumatic Soft Actuator (ASSIST),” Journal of Robotics and Mechatronics, Vol.16, No.5, pp. 497-503, 2004.

[5] [5] H. Kobayashi, H. Suzuki, and T. Hayashi, “A Muscle Suit for Muscular Support – Realization of All Motion for the Upper Limb,” 2004 1st IEEE Technical Exibition Based on Robotics and Automation Proceedings, CD-ROM, 2004.

[6] [6] J. Kohara et al., “Measurement of human body,” Japan Publication Service, 1986 (in Japanese).

[7] [7] M. Sato et al., “Human engineering numerical standard handbook,” Gihodo Shuppan Co., Ltd., 1999 (in Japanese).