Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device | Zendy

Daisuke Sasaki | Zendy; Toshiro Noritsugu | Zendy; Masahiro TAKAIWA | Zendy

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Development of High Contractile Pneumatic Artificial Rubber Muscle for Power Assist Device

Author(s) -

Daisuke Sasaki,

Toshiro Noritsugu,

Masahiro TAKAIWA

Publication year - 2012

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2012.p0150

Subject(s) - artificial muscle , natural rubber , contraction (grammar) , actuator , computer science , biomedical engineering , wearable computer , muscle power , muscle contraction , pneumatic actuator , materials science , engineering , composite material , artificial intelligence , anatomy , physical medicine and rehabilitation , medicine , embedded system

The purpose of this study is to develop a pneumatic artificial rubber muscle that has a high contraction rate in order to realize the required performance for a power assist device. In addition, a bilateral type pneumatic wearable master-slave training device is developed as an application of this muscle. The developed rubber muscle is constructed with two nylon bands and an expansion unit, which is put between the nylon bands. The generated force from the expansion unit is converted to a contraction force by the nylon band. This rubber muscle can realize the high contraction rate. The high contractile rubber is used in the form of actuators in the developed knee device because of the above feature. In this paper, the structure and characteristics of the developed rubber muscle are described and then the structure of the developed master-slave device is described. Finally, the validity of the proposed device is evaluated from an experiment that assumes rehabilitation.

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