Title :
A study on power assist suit using pneumatic actuators based on calculated retaining torques for lift-up motion
Author :
Sato, Motonobu ; Yagi, Eiichi
Author_Institution :
Grad. Sch. of Syst. Eng., Wakayama Univ., Wakayama, Japan
Abstract :
This paper describes a power assist suit with pneumatic actuators to support the elbow, shoulder, hip and knee motion. In this study, we use the surface electromyogram (EMG) signals as trigger, and the necessary joint torques are approximated with statics calculation by using the human model consisting of multi-joint rigid links with measured joint angles and load. With this technique, the system can assist users without causing uncomfortable feelings.
Keywords :
agriculture; electromyography; pneumatic actuators; power control; elbow motion; hip motion; human model; knee motion; lift-up motion; multijoint rigid links; pneumatic actuators; power assist suit; retaining torque calculation; shoulder motion; statics calculation; surface electromyogram signals; Elbow; Electromyography; Hip; Joints; Muscles; Robots; Shoulder; EMG; Exoskeleton; Lift-up Motion; Pneumatic Actuator; Power Assist Suit; Retaining Torque;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
