We currently develop a motor-driven power assist suit for a caregiver that helps his/her waist strain in heaving a load Since the total weight is about 15 kg of which dominant elements are the actuators, any lightweight solution is required toward a practical use in a hospital or at home. Especially, a torque requirement to assist waist muscular power in typical personal care tasks is over 100 Nm, and a weight of high-torque motor tends to be large for a wearable robot suit. Then, we consider a mechanism desi…
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