Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics
In this paper, the prototype of the assistive suit for lower limbs was developed. The prototype was based on an assist method with joint stiffness and antagonized angle control. The assist method comprises a system consisting of a pneumatic artificial muscle and a pull spring, which changes the join...
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| Format: | Article |
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MDPI AG
2021-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/10/1/17 |
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| author | Seigo Kimura Ryuji Suzuki Katsuki Machida Masashi Kashima Manabu Okui Rie Nishihama Taro Nakamura |
| author_facet | Seigo Kimura Ryuji Suzuki Katsuki Machida Masashi Kashima Manabu Okui Rie Nishihama Taro Nakamura |
| author_sort | Seigo Kimura |
| collection | DOAJ |
| description | In this paper, the prototype of the assistive suit for lower limbs was developed. The prototype was based on an assist method with joint stiffness and antagonized angle control. The assist method comprises a system consisting of a pneumatic artificial muscle and a pull spring, which changes the joint stiffness and the antagonized angle to correspond to the movement phase and aims at coordinated motion assistance with the wearer. First, the characteristics of the developed prototype were tested. It was confirmed that the measured value of the prototype followed the target value in the relationship between torque and angle. In addition, there was hysteresis in the measured value, but it did not affect the assist. Next, the evaluation of standing-up and gait assist by measuring electromyography (EMG) of the knee extensor muscle was conducted using the prototype. In all subjects, a decrease in EMG due to the assist was confirmed. In one subject, the maximum decrease rate at the peak of the EMG was about 50% for standing-up motion and about 75% for gait motion. From the results of these assist evaluations, the effectiveness of the assist method based on the joint stiffness and antagonistic angle control using the prototype was confirmed. |
| first_indexed | 2024-03-09T04:24:32Z |
| format | Article |
| id | doaj.art-11dd12f25f99493b80328da0dfd41b0f |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T04:24:32Z |
| publishDate | 2021-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-11dd12f25f99493b80328da0dfd41b0f2023-12-03T13:41:39ZengMDPI AGActuators2076-08252021-01-011011710.3390/act10010017Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint CharacteristicsSeigo Kimura0Ryuji Suzuki1Katsuki Machida2Masashi Kashima3Manabu Okui4Rie Nishihama5Taro Nakamura6Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanResearch and Development Initiative, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, JapanIn this paper, the prototype of the assistive suit for lower limbs was developed. The prototype was based on an assist method with joint stiffness and antagonized angle control. The assist method comprises a system consisting of a pneumatic artificial muscle and a pull spring, which changes the joint stiffness and the antagonized angle to correspond to the movement phase and aims at coordinated motion assistance with the wearer. First, the characteristics of the developed prototype were tested. It was confirmed that the measured value of the prototype followed the target value in the relationship between torque and angle. In addition, there was hysteresis in the measured value, but it did not affect the assist. Next, the evaluation of standing-up and gait assist by measuring electromyography (EMG) of the knee extensor muscle was conducted using the prototype. In all subjects, a decrease in EMG due to the assist was confirmed. In one subject, the maximum decrease rate at the peak of the EMG was about 50% for standing-up motion and about 75% for gait motion. From the results of these assist evaluations, the effectiveness of the assist method based on the joint stiffness and antagonistic angle control using the prototype was confirmed.https://www.mdpi.com/2076-0825/10/1/17assist suitvariable stiffnessartificial muscleexoskeleton-typewalking assiststanding-up assist |
| spellingShingle | Seigo Kimura Ryuji Suzuki Katsuki Machida Masashi Kashima Manabu Okui Rie Nishihama Taro Nakamura Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics Actuators assist suit variable stiffness artificial muscle exoskeleton-type walking assist standing-up assist |
| title | Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics |
| title_full | Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics |
| title_fullStr | Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics |
| title_full_unstemmed | Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics |
| title_short | Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics |
| title_sort | development of an exoskeleton type assist suit utilizing variable stiffness control devices based on human joint characteristics |
| topic | assist suit variable stiffness artificial muscle exoskeleton-type walking assist standing-up assist |
| url | https://www.mdpi.com/2076-0825/10/1/17 |
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