Stand-Alone Wearable Power Assist Suit –Development and Availability–

Abstract

The stand-alone wearable power assist suit we developed gives caregivers the extra strength they need to lift patients while avoiding back injuries. To put this suit to practical use, we improved sensing system and the mechanisms. To stabilize muscle tenseness sensing more, we developed an all-in-one sensor that built the sensor into a mesh belt and improved sensing characteristics. We expanded the movable range and function of the suit. We increased actuator output torque by increasing the number of cuffs inserted into actuators. Based on equations derived from static body mechanics using joint angles, joints torques required to maintain a position are calculated by an embedded microcomputer and required joint torques was combined with muscle sensor output signals to generate control signals. We developed an exoskeleton for measurement having the same frame and potentiometers as the suit and measured muscle force by having a user wear the exoskeleton, and proved that each unit of the suit transmitted assistance torque directly to each joint. We also found that a user wearing the suit could lift weight using half or less muscle power, i.e., muscle power doubled.

Development of Compact Flexible Displacement Sensors Using Ultrasonic Sensor for Wearable Actuators

“…The tested sensor consists of the ultrasonic sensor mentioned above, an acrylic cover with two tube connecters and a thick flexible tube with an inner/outer diameter of 8/12 mm connected to two thin flexible tubes with an inner/outer diameter of 2.5/4 mm. As a sliding stage, the ring-shaped neodymium magnet with an inner/outer diameter of 13/25 mm, thickness of 5 mm and an acrylic cylindrical reflector with an outer diameter of 7.5 mm and length of 9 mm that a steel ball with an 02002-p. 3 outer diameter of 5 mm were used. Figure 6 shows the construction and operating principle of the measuring system using the tested sensor.…”

“…Recently, pneumatic welfare systems to support a nursing care and a rehabilitation of the elderly and the disabled are actively researched and developed [1][2][3][4]. In the system, many wearable actuators such as a rubber artificial muscle have been used [5][6][7].…”

Development of Wearable Wrist Rehabilitation Device Using Flexible Pneumatic Cylinders

“…The rehabilitation devices using soft pneumatic actuators for disabled are actively researched and developed [2][3][4][5]. In the previous study, the wrist rehabilitation device using flexible robot arm that consists of three flexible pneumatic cylinders [6] was proposed and tested.…”

Preliminary Design of Flexible Linear Stepping Actuator Driven by Pneumatic Balloons and Brakes

“…According to aging society and decreasing birth rate in Japan [1], the requirement using soft actuator for the rehabilitation device and power assisting devices is rapidly increasing [2][3][4][5]. As a soft actuator, a rubber artificial muscle is well-known and actively used because of its larger generated force.…”