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成果報告書詳細
管理番号20190000000249
タイトル*2018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2019/6/19
報告書年度2018 - 2018
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 (FY2015 - FY2019) FY2018 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 FY2018 are reported in each topic.

1. To prolong the lifetime of the artificial muscle
The fatigue life of artificial muscle hasn’t been sufficient so far because it is manufactured in lab. Thus, in order to prolong the lifetime, we have redesigned it with Bridgestone Corporation. In this fiscal year, we worked on the prolonging the fatigue life by development of highly crack resistant rubber materials and utilizing the strain-induced crystallinity of rubber. We also developed a fixing method to achieve the target pullout strength and weight.

2. Development of viscoelastic actuation system with high compatibility
In previous works, variable viscoelastic exoskeleton “Airsist I” was developed and its assistive effectiveness is confirmed via experiments. In this fiscal year, an assist method by controlling joint stiffness and antagonistic angle using variable elastic elements is developed in order to simplify the control method and save energy consumption during assistance. Also we developed the lower limb assistive device Airsist II to confirm the effectiveness of the method. In addition, motion detection algorithm is also developed aimed to decide assistive timing of variable viscoelastic joint. The algorithm can determine five types of motion using angle and angular velocity. The algorithm will be evaluated by experiments in FY2019.

3. Portable pneumatic power source
The portable pneumatic source developed in the previous year was tested by Airsist driving experiment. As a result, Airsist I could be driven using the pneumatic source.

4. Novel fixation method which is easy to equip and transmit assisting force firmly
In previous works, a body fixing method for wearable assistive devices was proposed that utilized jamming transition and the expansion of an elastic bag. However, the pneumatic circuit of the device required two systems of a negative pressure system for jamming transition and a pressure system for fitting, and the proposed method was complicated. In this fiscal year, an actuator that fits the body by negative pressure was developed and evaluated. It was confirmed that the characteristics of the proposed actuator were sufficient for application to the body wearing device.
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