著者

山本 圭治郎 兵頭 和人 石井 峰雄 松尾 崇

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.67, no.657, pp.1499-1506, 2001-05-25 (Released:2008-02-26)

参考文献数

18

被引用文献数

17 23

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In order to realize a power assisting suit for assisting a nurse caring a patient is her arm, a hardness sensor of muscle using load cell and a pneumatic rotary actuator utilizing pressure cuffs have been developed. The power assisting suit consists of shoulders, arms waist and legs made of aluminum, and is fitted on the nurse body. The power assisting suit was originated with the concept of a master and slave system in one body. The arms, waist and legs have the pneumatic rotary actuators. The pneumatic rotary actuators construct with pressure cuffs sandwiched between thin plates. The action of the arms, waist and legs of the nurse were sensed with the muscle hardness sensor utilizing load cell with diaphragm mounted a sensing tip. The dent of the sensing tip corresponds to the hardness of the muscle so that exerting muscle force produces electric signal. This paper gives the design and characteristics of the power assisting suit using the cuff type pneumatic rotary actuators and the muscle hardness sensor verifying its practicability.