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JRM Vol.23 No.6 pp. 978-990
doi: 10.20965/jrm.2011.p0978
(2011)

Paper:

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Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model

Yumeko Imamura*1, Takayuki Tanaka*1, Yoshihito Suzuki*2,
Kazuki Takizawa*3, and Masanori Yamanaka*4

*1Graduate School of Information Science and Technology, Hokkaido University, N14-W9, Kita-ku, Sapporo 060-0814, Japan

*2Smart Support Technologies Inc., N21-W12, Kitaku, Sapporo 060-0821, Japan

*3Institute for the Advancement of Higher Education, Hokkaido University, N17-W8, Kitaku, Sapporo 060-0817, Japan

*4Graduate School of Health Science, Hokkaido University, N12-W5, Kitaku, Sapporo 060-0812, Japan

Received:
April 22, 2011
Accepted:
July 11, 2011
Published:
December 20, 2011
Creative Commons License
Keywords:
power assist, biomechanics, human body dynamics model
Abstract
We are developing a passive power assist device, “Smart Suit Lite.” Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a “motion-based assist method” in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has “Skin segments” that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.
Cite this article as:
Y. Imamura, T. Tanaka, Y. Suzuki, K. Takizawa, and M. Yamanaka, “Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model,” J. Robot. Mechatron., Vol.23 No.6, pp. 978-990, 2011.
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