We are developing a passive power assist device, “Smart Suit Lite.” Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a “motion-based assist method” in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has “Skin segments” that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260006/12.jpg"" width=""200"" />Passive power-assist supporter</div> We are developing a passive power assist supporter calledSmart Suit Lite. Smart Suit Lite, a compact, lightweight device, uses the force of elastic belts both to support muscles and to stabilize the torso in a way similar to the corset. It is reported that the corset stabilizes posture, and decreases intradiscal pressure by applying pressure around the pelvis. The mechanism behind this remains to be fully elucidated, however, and has not been used actively for power assist devices. This study aims to construct a mechanical model of trunk stabilization generated by assistive devices. In this paper, we propose modeling based on basic experiments measuring motions under static conditions. </span>
This research proposes a novel method that evaluates joint reaction forces by motion analysis using a musculoskeletal model. While general muscle tension estimations minimize the sum of the muscle tensions, the proposed method utilizes the joint reaction forces themselves in the objective function of the optimization problem in addition to conventional method. This method can estimate a pattern of the muscle tensions that maximizes or minimizes a specific joint force. As a typical outcome, the proposed method allows evaluating intervertebral disc compressive force caused by co-contraction of muscles while avoiding risk underestimation. We analyzed the actual lifting motion as an example and confirmed that the method can estimate the muscle tension distribution under different tension conditions.
This paper presents the new application of a humanoid robot as an evaluator of human assistive devices. The reliable and objective evaluation framework for assistive devices is necessary for making industrial standards in order that those devices are used in various applications. In this framework, we utilize a recent humanoid robot with its high similarity to humans, human motion retargeting techniques to a humanoid robot, and identification techniques of robot's mechanical properties. We also show two approaches to estimate supporting torques from the sensor data, which can be used properly according to the situations. With the general formulation of the wire-driven multi-body system, the supporting torque of passive assistive devices is also formulated. We evaluate a passive assistive wear "Smart Suit Lite (SSL)" as an example of device, and use HRP-4 as the humanoid platform.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.