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Development of human friendly wearable power assist device extending and supporting body operation

Research Project

Project/Area Number 16360124
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionOkayama University

Principal Investigator

NORITSUGU Toshiro  Okayama University, The Graduate School of Natural Science and Technology, Professor (70043726)

Co-Investigator(Kenkyū-buntansha) TAKAIWA Masahiro  Okayama University, The Graduate School of Natural Science and Technology, Associate Professor (60243490)
SASAKI Daisuke  Okayama University, The Graduate School of Natural Science and Technology, Assistant Professor (50372686)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥11,500,000 (Direct Cost: ¥11,500,000)
Fiscal Year 2006: ¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 2005: ¥4,600,000 (Direct Cost: ¥4,600,000)
Fiscal Year 2004: ¥3,700,000 (Direct Cost: ¥3,700,000)
KeywordsPneumatic rubber artificial muscle / Wearable power assist / Robot / Muscle support / Nursing assist / Muscle string / Small-sized air pump / Voice input / Muscle string / 小型コンプレッサ / 腰動作支援 / 股装具
Research Abstract

The wearable power assist devices to assist operation in daily life by supplementing muscular power to which the senior people and the physically handicapped were developed. Safety and human friendlinese to the human are requested to the wearable power assistance device. Therefore, a small, light-weight and soft pneumatic rubber artificial muscle is used as an actuator that drives a wearable device.
First, to support basic nursing work, the power assist device for the waist operation was developed. It is constructed by installing the contracted curved type rubber artificial muscles in existing waist equipment The pressure control method of the rubber artificial muscles to generate the appropriated assist force is clarified. And the communication method with a tactile sensor between the device and human intention was proposed.
Next, the thin and long pneumatic rubber artificial muscle (named muscle string) was developed. By using the muscle string, a clothes type power assist wear as an active supporter with a changeable tightening force, the wrist, the elbow and the shoulder operation assist devices were developed, of which effectiveness was confirmed.
In addition, the availability of voice input was confirmed to control the power assist device. The neural net work was introduced to overcome the slurring speech. Further the evaluation of the assist performance using the myogenic voltage was executed. The specification of small sized air pump the wearable power assist device was considered.

Report

(4 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (20 results)

All 2006 2005 2004

All Journal Article (14 results) Presentation (4 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] ウェアラブルフルードパワーについて2006

    • Author(s)
      則次俊郎
    • Journal Title

      フルードパワー 19・2

      Pages: 39-44

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Pneumatic Soft Actuator for Human Assist Technology2006

    • Author(s)
      Toshiro Noritsugu
    • Journal Title

      フルードパワーシステム 37・1

      Pages: 30-40

    • NAID

      10019591594

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] 空気圧ゴム人工筋を用いた人間動作支援ロボット-パワーアシストウェアの実現に向けて-2006

    • Author(s)
      則次俊郎
    • Journal Title

      油空圧技術 45・11

      Pages: 12-17

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Pneumatic Soft Actuator for Human Assist Technology2006

    • Author(s)
      Toshiro, Noritsugu
    • Journal Title

      Journal of The Japan Fluid Power System Society Vol. 37, No. 1

      Pages: 30-40

    • NAID

      10019591594

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Human Motion Assist Robot using Pneumatic Rubber Artificial Muscle -For Realization of Power Assist Wear2006

    • Author(s)
      Toshiro, Noritsugu
    • Journal Title

      Hydraulics and Pneumatics Vol. 45, No. 11

      Pages: 12-17

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 空気圧ゴム人工筋を用いた人間動作支援ロボット -パワーアシストウェアの実現に向けて-2006

    • Author(s)
      則次俊郎
    • Journal Title

      油空圧技術 45・11

      Pages: 12-17

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Muscle stringを用いたアクティブサポータの開発2006

    • Author(s)
      家島大貴
    • Journal Title

      日本機械学会講演論文集 No.065-

      Pages: 409-410

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 湾曲型空気圧ゴム人工筋を用いた腰部パワーアシスト装置の開発2005

    • Author(s)
      則次俊郎
    • Journal Title

      日本フルードパワーシステム学会論文集 36・6

      Pages: 143-151

    • NAID

      10029930127

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary 2005 Annual Research Report
  • [Journal Article] Development of Wearable Waist Power Assist Device Using Curved Pneumatic Artificial Muscle2005

    • Author(s)
      Toshiro, Noritsugu
    • Journal Title

      Transactions of The Japan Fluid Power System Society Vol. 36, No. 6

      Pages: 143-151

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Wearable Fluid Power2005

    • Author(s)
      Toshiro, Noritsugu
    • Journal Title

      Fluid Power Vol. 19, No. 2

      Pages: 39-44

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Pneumatic Soft Actuator for Human Assist Technology2005

    • Author(s)
      Toshiro Noritsugu
    • Journal Title

      Proceeding of the 6th JFPS International Symposium on Fluid Power 2005, Special Lecture

      Pages: 11-20

    • NAID

      10019591594

    • Related Report
      2005 Annual Research Report
  • [Journal Article] フルードパワーの挑戦 ウエアラブルフルードパワーについて2005

    • Author(s)
      則次俊郎
    • Journal Title

      フルードパワー 19・2

      Pages: 39-44

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Development of Active Support Splint driven by Pneumatic Soft Actuator(ASSIST)2004

    • Author(s)
      Daisuke Sasaki
    • Journal Title

      Proceedings of ICAM' 04 (CD-ROM)

    • NAID

      120002305654

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 湾曲型ゴム人工筋を用いた腰部パワーアシスト装具の開発2004

    • Author(s)
      高 雷
    • Journal Title

      第13回計測自動制御学会中国支部学術講演会論文集

      Pages: 52-53

    • Related Report
      2004 Annual Research Report
  • [Presentation] 空気圧アクチュエータの福祉機器への応用-ゴム人工筋を用いたウェアラブルパワーアシストロボット-2006

    • Author(s)
      則次俊郎
    • Organizer
      2006年度日本機械学会年次大会市民フォーラム「寝たきりにならない介護支援」
    • Place of Presentation
      熊本大学
    • Year and Date
      2006-09-18
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Presentation] Application of Pneumatic Actuator to Welfare Device2006

    • Author(s)
      Toshiro, Noritsugu
    • Organizer
      Annual Conference of Japan Society of Mechanical Engineers
    • Place of Presentation
      Kumamoto
    • Year and Date
      2006-09-18
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Presentation] Pneumatic Soft Actuator for Human Assist Technology2005

    • Author(s)
      Toshiro Noritsugu
    • Organizer
      The 6th JFPS International Symposium on Fluid Power 2005 (special Lecture)
    • Place of Presentation
      つくば市
    • Year and Date
      2005-11-08
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Presentation] Pneumatic Soft Actuator for Human Assist Technology2005

    • Author(s)
      Toshiro, Noritsugu
    • Organizer
      The 6th JFPS International Symposium on Fluid Power 2005
    • Place of Presentation
      Tsukuba
    • Year and Date
      2005-11-08
    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Patent(Industrial Property Rights)] 流体アクチュエータ及びこの流体アクチュエータを備えた立ち上がり動作支援装置2005

    • Inventor(s)
      則次俊郎
    • Industrial Property Rights Holder
      岡山大学
    • Industrial Property Number
      2005-334947
    • Filing Date
      2005-11-18
    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Patent(Industrial Property Rights)] ポンプ2005

    • Inventor(s)
      則次 俊郎, 高野 和潔
    • Industrial Property Rights Holder
      岡山大学, 岡山県
    • Industrial Property Number
      2005-280846
    • Filing Date
      2005-09-27
    • Related Report
      2005 Annual Research Report

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Published: 2004-04-01   Modified: 2016-04-21  

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