DocumentCode
2046214
Title
A study on power assist suit using pneumatic actuators based on calculated retaining torques for lift-up motion
Author
Sato, Motonobu ; Yagi, Eiichi
Author_Institution
Grad. Sch. of Syst. Eng., Wakayama Univ., Wakayama, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
628
Lastpage
632
Abstract
This paper describes a power assist suit with pneumatic actuators to support the elbow, shoulder, hip and knee motion. In this study, we use the surface electromyogram (EMG) signals as trigger, and the necessary joint torques are approximated with statics calculation by using the human model consisting of multi-joint rigid links with measured joint angles and load. With this technique, the system can assist users without causing uncomfortable feelings.
Keywords
agriculture; electromyography; pneumatic actuators; power control; elbow motion; hip motion; human model; knee motion; lift-up motion; multijoint rigid links; pneumatic actuators; power assist suit; retaining torque calculation; shoulder motion; statics calculation; surface electromyogram signals; Elbow; Electromyography; Hip; Joints; Muscles; Robots; Shoulder; EMG; Exoskeleton; Lift-up Motion; Pneumatic Actuator; Power Assist Suit; Retaining Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060742
Link To Document