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

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

doi:10.1109/IROS.2010.5649881

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

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

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	American English
Title of host publication	2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	3670-3675
Number of pages	6
ISBN (Electronic)	978-1-4244-6676-4, 978-1-4244-6675-7
ISBN (Print)	978-1-4244-6674-0
DOIs	https://doi.org/10.1109/IROS.2010.5649881
State	Published - Dec 3 2010
Event	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China Duration: Oct 18 2010 → Oct 22 2010

Conference

Conference	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/Territory	Taiwan, Province of China
City	Taipei
Period	10/18/10 → 10/22/10

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

Access to Document

10.1109/IROS.2010.5649881License: Unspecified

Cite this

Iwaki, M, Hasegawa, Y, Sankai, Y & Misra, P 2010, Study on Wearable System for Daily Life Support Using McKibben Pneumatic Artificial Muscle. in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems., 5649881, IEEE, pp. 3670-3675, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 10/18/10. https://doi.org/10.1109/IROS.2010.5649881

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title = "Study on Wearable System for Daily Life Support Using McKibben Pneumatic Artificial Muscle",

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. {\textcopyright}2010 IEEE.",

keywords = "Muscles, Valves, Humans, Force, Solenoids, Force sensors, Atmospheric modeling",

author = "Masahiro Iwaki and Yasuhisa Hasegawa and Yoshiyuki Sankai and P. Misra",

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doi = "10.1109/IROS.2010.5649881",

language = "American English",

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booktitle = "2010 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

note = "23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference date: 18-10-2010 Through 22-10-2010",

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T1 - Study on Wearable System for Daily Life Support Using McKibben Pneumatic Artificial Muscle

AU - Iwaki, Masahiro

AU - Hasegawa, Yasuhisa

AU - Sankai, Yoshiyuki

AU - Misra, P.

PY - 2010/12/3

Y1 - 2010/12/3

N2 - 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.

AB - 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.

KW - Muscles

KW - Valves

KW - Humans

KW - Force

KW - Solenoids

KW - Force sensors

KW - Atmospheric modeling

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BT - 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010

Y2 - 18 October 2010 through 22 October 2010

ER -

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

Abstract

Conference

ASJC Scopus Subject Areas

Keywords

Disciplines

Access to Document

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