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In the future, when the average age of the members of  society becomes advanced, an innovative technology to assist the activities  of daily living of elderly and disabled people and to assist in the heavy  work in nursing will be desired. To develop such a technology, an actuator  that is safe and user-friendly is required. It should be small, lightweight,  and sufficiently soft. Such an actuator is available in artificial muscle  made of pneumatic rubber. We have developed some types of pneumatic rubber  artificial muscles and applied them to wearable power assist devices. A  wearable power assist device is fitted to the human body to assist the power  of muscles that support the activities of daily living, rehabilitation,  training, and so on. 			  In this paper, some types of pneumatic rubber artificial muscles developed  and manufactured in our laboratory are presented. Furthermore, two kinds of  wearable power assist devices driven by the rubber artificial muscles are  described. Finally, some evaluations clarify the effectiveness of pneumatic  rubber artificial muscle for innovative human assistance technologies.

Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles