Wearable antigravity muscle support system utilizing human body dynamics

Authors: Nakamura, Takahiko; Wang, Zhidong; Saito, Kazunari; Kosuge, Kazuhiro

Source: Advanced Robotics, Volume 20, Number 11, 2006 , pp. 1237-1256(20)

Publisher: VSP, an imprint of Brill

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Abstract:

In this research, we have developed a wearable antigravity muscle support system, which assists daily activities of physically weak persons by reducing the load to the lower extremities. Many activities of a human being are performed smartly by cooperating motions of different body parts to reduce loads. In this paper, we propose a dynamics-based support concept based on the posture and motion of the user, and analyses of human's smart motion in order to assist the user smartly and naturally by the wearable support system. Based on the proposed concept, a dynamics-based control algorithm for devices without using biological signals is implemented. Experimental results illustrate the validity of the proposed system.

Keywords: WALKING SUPPORT; WEARABLE SUPPORT SYSTEM; ANTIGRAVITY MUSCLES; HUMAN BODY DYNAMICS; HUMAN MODEL

Document Type: Research article

DOI: 10.1163/156855306778792434

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