Development of load-free type pneumatic power assist device and elucidation of body burden mechanism

2022 Fiscal Year Final Research Report

• Project/Area Number: 20K04400
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: The University of Tokushima
• Principal Investigator: TAKAIWA Masahiro 徳島大学, 大学院社会産業理工学研究部(理工学域), 教授 (60243490)
• Project Period (FY): 2020-04-01 – 2023-03-31
• Keywords: 免荷型パワーアシスト装置 / 空気圧サーボ / パッシブ機構 / 装着型パワーアシスト / 筋骨格シミュレータ / 脇下支援

Outline of Final Research Achievements

In order to solve the problem that wearable power assist devices tend to interfere with squat movements, we developed a non-wearing type power assist device that supports the armpits.
The proposed assist device has two types, an active type to be driven by a pneumatic actuator and a passive type to be driven in the power of restitution of the spring. After evaluating a support effect in the simple lifting movement by using EMG sensors and motion capture system quantitatively, it was shown that the muscle burden on lower part of the body was largely more reducible than a wearing type power assist device. On the other hand, consciousness to maintain the balance of right and left unconsciously acted by the wearing support only for one side, and a rise of EMG activity to perform the movement predominantly was seen. An operational guideline to have to leave the weight at the device than this was provided.

Free Research Field

ロボット工学、制御工学

Academic Significance and Societal Importance of the Research Achievements

脇下支援による免荷型のパワーアシスト装置を開発した。用途に応じて、エアシリンダで駆動するアクティブ型とバネの復元力のみを用いるパッシブ型を提案した。本装置は装着者との接点が靴側面と脇下の２点であるため、身体拘束が少なく、膝を曲げてしゃがむSquat法を阻害しない利点がある。単純持ち上げ動作における支援効果を筋電位センサを用いて定量評価した結果、特に下半身の筋負担が大きく低減されていることがわかり、これは筋骨格シミュレータを用いた解析からも同様の傾向を確認するに至った。パッシブ型装置は着脱が容易でオンデマンド的な使用が可能であり、低コスト化が可能であるため実用展開の可能性が高いと考えられる。