2021 Fiscal Year Final Research Report
Development of lower limb training device driven with pneumatic wearable actuator
| Project/Area Number |
19K04294
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Kagawa University |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | ウェアラブルロボット / アクチュエータ / 空気圧 |
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| Outline of Final Research Achievements |
The purpose of this study is to develop the lower limb wearable device driven with the pneumatic actuator to train leg motion. The developed device is constructed with the pneumatic artificial rubber muscles and the variable stiffness frame, the pneumatic friction clutches developed in this study. The variable stiffness frame is composed of the granular jamming transition mechanism. Thus, the rigidity of proposed frame is normally low and can be increased when the device assists a subject. This frame makes it possible to apply the force from the artificial muscle to the ankle at the desired timing. The pneumatic friction clutch is composed with the friction members and bellows. The friction members can be pressed each other by the generated force from the bellows. By connecting the artificial muscle with the developed clutch, the movable range of artificial muscle can be improved.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
スポーツ分野では，ウェアラブル機器によりリアルタイムでの運動の測定・分析により高度な指導が可能となった．しかし，収集した情報を訓練者にフィードバックする方法は，口頭あるいは映像などと方法が間接的かつ限定的である．ウェアラブル化したアクチュエータを使用し，訓練者への直接的なフィードバックならびに自由な場所での訓練ができれば訓練の効率化が可能となる．アクチュエータにより訓練者への直接的なフィードバックならびに自由な場所での訓練ができれば訓練の効率化が可能となる．
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