Development on Muscle Suit

摘要

that robot technologies consider use in the human living We have been developing providing muscular support to the poraiyzed or ihose oihenvire emble io move on their own, and also manual worker. Muscle suit is o wear without metnl frome and use a McKibben actuaior driven by compressed air. Because actuators ore sewn into o gnrment, no metal frame is needed, making n muscle suit very light and cheap. Mosi medico1 nnd welfore apparatuses were developing for caregivers rother than potients in need of nursing, causing potients io lose their own identi@ and a positive attitude. With muscle suit they could control their movement of their own will. Muscle suii ore very helpfur for both muscular nnd menial support. environment though, few provide physical support or are applicable directly to human assistance. We then have proposed muscle suit(l)(2) as a wearable robot to support human movement physically and directly. In this paper, we describe the concept of muscle suit and verify its feasibility by using the prototype system. Although it works somehow, we fmd that just by using a wear, movable sphere is very limited comparing to human's one. To overcome this limitation, we propose armor structure by using soft frame (no metal). In terms of movement for upper body, abduction might be the most difficult to realiie because of weight and movable sphere. We then try to implement it by using armor-type miircle wit - .-