In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. In this paper, the fundamental characteristics of ASSIST is described, and then the effectiveness of this splint is experimentally discussed. Finally, the operation of ASSIST based on a human intention is described.
en-copyright= kn-copyright= en-aut-name=SasakiDaisuke en-aut-sei=Sasaki en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=Artificial Rubber Muscle kn-keyword=Artificial Rubber Muscle en-keyword=Pneumatics kn-keyword=Pneumatics en-keyword=Power Assist kn-keyword=Power Assist en-keyword=Wearable Robot kn-keyword=Wearable Robot END start-ver=1.4 cd-journal=joma no-vol=2 cd-vols= no-issue= article-no= start-page=2188 end-page=2193 dt-received= dt-revised= dt-accepted= dt-pub-year=2003 dt-pub=20030914 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Application of artificial pneumatic rubber muscles to a human friendly robot en-subtitle= kn-subtitle= en-abstract= kn-abstract=When robots work together with a human or contact with a human body directly in such as a medical welfare field, in order to avoid an accident from crash and so on, a flexibility is required for the robot. The purpose of this study is to realize a safe mechanism for a human-friendly robot. In this paper, the structure and the fundamental characteristics of a pneumatic rubber muscle and soft mechanism are described, and then the structure and the fundamental operation of the developed soft hand are shown. Finally, the shaking hands is discussed as an example of force communication tasks between a robot and a human.
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=SasakiDaisuke en-aut-sei=Sasaki en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University en-keyword=pneumatic actuators kn-keyword=pneumatic actuators en-keyword=robots kn-keyword=robots en-keyword=tactile sensors kn-keyword=tactile sensors END start-ver=1.4 cd-journal=joma no-vol= cd-vols= no-issue= article-no= start-page=655 end-page=660 dt-received= dt-revised= dt-accepted= dt-pub-year=2004 dt-pub=20040804 dt-online= en-article= kn-article= en-subject= kn-subject= en-title= kn-title=Wearable power assist device for hand grasping using pneumatic artificial rubber muscle en-subtitle= kn-subtitle= en-abstract= kn-abstract=The purpose of this study is to develop a wearable power assist device for hand grasping in order to support activity of daily living (ADL) safely and easily. In this paper, the mechanism of the developed power assist device is described, and then the effectiveness of this device is discussed experimentally.
en-copyright= kn-copyright= en-aut-name=NoritsuguToshiro en-aut-sei=Noritsugu en-aut-mei=Toshiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=1 ORCID= en-aut-name=YamamotoHiroshi en-aut-sei=Yamamoto en-aut-mei=Hiroshi kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=2 ORCID= en-aut-name=SasakiDaisuke en-aut-sei=Sasaki en-aut-mei=Daisuke kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=3 ORCID= en-aut-name=TakaiwaMasahiro en-aut-sei=Takaiwa en-aut-mei=Masahiro kn-aut-name= kn-aut-sei= kn-aut-mei= aut-affil-num=4 ORCID= affil-num=1 en-affil= kn-affil=Okayama University affil-num=2 en-affil= kn-affil=Okayama University affil-num=3 en-affil= kn-affil=Okayama University affil-num=4 en-affil= kn-affil=Okayama University en-keyword=Power assist kn-keyword=Power assist en-keyword=Rubbet Artificial Muscle kn-keyword=Rubbet Artificial Muscle en-keyword=Pneumatics kn-keyword=Pneumatics END