本文へジャンプ

成果報告書詳細
管理番号20170000000687
タイトル*平成28年度中間年報 次世代人工知能・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2017/8/30
報告書年度2016 - 2016
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) FY2017 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. 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, we surveyed a relationship between shape and lifetime of artificial muscle. We obtained a result that the proportion of diameter and length influences lifetime. Utilizing the result, we prolonged the lifetime from about 300 cycles to 60 thousands cycles.

2. Development of viscoelastic actuation system with high compatibility
A controller for controlling viscoelasticity was developed which is designed after human joint movement. Surface-EMG measuring experiments were conducted with the controller to verily effectiveness of proposed system. The result shows the method has higher compatibility than existing method. In addition, a lower body exoskeleton named “Airsist” is developed in order to evaluate the proposed method in practical conditions.

3. Portable pneumatic power source
As an initial step of development of portable pneumatic power source, various air compressing methods are evaluated in terms of portability in this paper. Methods to compare are small compressor activated by battery, phase change of material a chemical reaction. Novel pneumatic power source using chemical reaction is tested. The result shows the following: the efficiency of compressor goes down when it generate high pressure; Method that uses phase change of material have similar characteristic that it can generate large amount of compressed air per mass; Chemical reaction can generate quite high pressure, however it generate small amount of compressed air per mass.
Pneumatic driven system generally need 0.7 MPa to be activated at maximum. Therefore, it is assumed that hybrid system of multiple method is effective to develop practical portable pneumatic power source.

4. Novel fixation method which is easy to equip and transmit assisting force firmly
Prototype was developed which achieves firm force transmission and quick equipment by jamming transition and pressure. As a result of test experiment with the prototype, it was confirmed that it can adapt to the body shape and harden by jamming transition. From the result, it can be said that the proposed method is sufficiently feasible.
ダウンロード成果報告書データベース(ユーザ登録必須)から、ダウンロードしてください。

▲トップに戻る