DocumentCode
2350811
Title
Development of wearable exoskeleton power assist system for lower back support
Author
Naruse, Keitaro ; Kawai, Satoshi ; Yokoi, Hiroshi ; Kakazu, Yukinori
Author_Institution
Complex Syst. Eng., Hokkaido Univ., Sapporo, Japan
Volume
4
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
3630
Abstract
In this paper, we propose a power assist device for lower back flexion and extension, when carrying a heavy load. To see the effect of the device, we model a human body and analyze a compression force in his lower back, as well as the evaluation of a supported force at a hand position. A prototype of the device is manufactured and a controller of the device is developed, which can follow a voluntary human motion assisting his strength.
Keywords
controllers; handicapped aids; medical robotics; motion control; prosthetics; compression force; controller; hand position; human body model; human motion; lower back extension; lower back flexion; lower back support; power assist system; wearable exoskeleton development; Aging; Biological system modeling; Design engineering; Exoskeletons; Humans; Motion control; Power engineering and energy; Power system modeling; Prototypes; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249719
Filename
1249719
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