Study on Wearable System for Daily Life Support Using McKibben Pneumatic Artificial Muscle

Masahiro Iwaki, Yasuhisa Hasegawa, Yoshiyuki Sankai, P. Misra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes the basic technologies in order to develop a wearable hand assistive system for daily life support. Current prosthetics have some problems for wearability. We focus on the load caused by weight of wearable system. The actuator is one of the heaviest parts in wearable systems. Therefore we propose to use the McKibben pneumatic artificial muscle which is lightweight and compact in size. At first, we propose a new method to control air pressure of artificial muscle without pressure sensor in order to reduce the size of system. Second, we investigate variable stiffness of human finger to perform human finger dexterity and simulate it by using our proposed polyarticular tendon drive system. ©2010 IEEE.

Original languageAmerican English
Title of host publication2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE
Pages3670-3675
Number of pages6
ISBN (Electronic)978-1-4244-6676-4, 978-1-4244-6675-7
ISBN (Print)978-1-4244-6674-0
DOIs
StatePublished - Dec 3 2010
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010Oct 22 2010

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/TerritoryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

ASJC Scopus Subject Areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

Keywords

  • Muscles
  • Valves
  • Humans
  • Force
  • Solenoids
  • Force sensors
  • Atmospheric modeling

Disciplines

  • Electrical and Computer Engineering

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