成果報告書詳細
管理番号20160000000577
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 革新的ロボット要素技術分野 人間との親和性が高いウェアラブルアシスト機器のための可変粘弾性特性を有する革新的ソフトアクチュエータシステムの開発
公開日2016/7/27
報告書年度2015 - 2015
委託先名学校法人中央大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title:Development of novel soft-actuation system with viscoelasticity for wearable assisting device which provides high compatibility with human (FY2016-FY2018) FY2016 Annual Report

In this research, a novel actuation system with a variable viscoelastic joint was proposed. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake (MR-brake). This system enabled the exoskeleton to retain structural softness when compared with the existing exoskeletons driven by motor and reduction gear, which could only achieve superficial softness.
There are four research issues below to realize wearable assist device with proposed actuation system. Research results of FY2016 are reported in each items.

1. To prolong the lifetime of the artificial muscle
The reproducibility of artificial muscle hasn’t been sufficient so far because it is manufactured in lab. Thus, in order to obtain reproducibility and prolong the lifetime, we have redesigned it with “Meiji rubber & chemical Co.,Ltd”. In this fiscal year, corrosion resistance of the artificial muscle was refined by vulcanizing. In addition, a device for endurance test of artificial muscle was developed.

2. Development of viscoelastic actuation system with high compatibility
A prototype exoskeleton for knee assistance with the proposed system and a feed-forward controller for the system were developed. In addition, two surface-EMG measuring experiments were conducted with the device and the controller to verily effectiveness of proposed system. In the experience, surface-EMG in the condition without the exoskeleton and with the exoskeleton are compared. The result confirmed the surface-EMG decreased the muscle load of the knee with exoskeleton .

3. Portable pneumatic power source
Novel pneumatic power source using chemical reaction is tested. An experiment is conducted to verify effectiveness of proposed power source. Result shows this method can generate compressed air which have enough pressure to actuate artificial muscle.

4. Novel fixation method which is easy to equip and transmit assisting force firmly
As planned, this item is started being researched later half of FY2016.
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