Title :
Development of muscle suit for upper limb
Author :
Kobayashi, H. ; Hiramatsu, K.
Author_Institution :
Dept. of Mech. Eng., Sci. Univ. of Tokyo, Japan
fDate :
26 April-1 May 2004
Abstract :
We have been developing a "muscle suit" that provides muscular support to the paralyzed or those otherwise unable to move unaided, as well as to manual workers. The muscle suit is a garment without a metal frame and uses a McKibben actuator driven by compressed air. Because actuators are sewn into the garment, no metal frame is needed, making the muscle suit very light and cheap. With the muscle suit, the patient can willfully control his or her movement. The muscle suit is very helpful for both muscular and emotional support. We propose an armor-type muscle suit in order to overcome issues of a prototype system and then show how abduction motion, which we believe, is the most difficult motion for the upper body, is realized.
Keywords :
medical robotics; motion control; muscle; orthotics; pneumatic actuators; McKibben actuator; abduction motion; armor type muscle suit; emotional support; muscular support; upper limb; Actuators; Aging; Clothing; Humanoid robots; Humans; Medical robotics; Medical services; Muscles; Prototypes; System testing;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307433