自动化学报2016，Vol.42Issue(12)：1849-1858,10.DOI:10.16383/j.aas.2016.c160211
基于柔性气压驱动器的可穿戴式腰部助力机器人研究
Development of Wearable Power Assist Robot for Low Back Support Using Soft Pneumatic Actuators
摘要
Abstract
With the rapid arrival of aging society, in order to meet the requirements on rehabilitation and transfer assist, we proposed a wearable power assist robot for low back support using soft pneumatic actuators which are lightweight, robust and powerful and especially safe for the interaction between man and machine. This non-exoskeleton type robot can provide low back with proper assist force during lifting or static holding tasks, and prevent the caregiver from suffering low back pain (LBP). The assistance effectiveness of the proposed device has been proven through related experiments, including assessing the electromyography (EMG) signal of the erector spinae muscles, measuring the maximum lift weight, and the track data of center of gravity (COG).关键词
可穿戴式/助力机器人/柔性气压驱动器/外骨骼Key words
Wearable/power assist robot/soft pneumatic actuator/exoskeleton引用本文复制引用
李向攀,韩建海,郭冰菁,张彦斌,赵菲菲,则次俊郎..基于柔性气压驱动器的可穿戴式腰部助力机器人研究[J].自动化学报,2016,42(12):1849-1858,10.基金项目
河南省教育厅科学技术研究重点项目(14A460025),洛阳市科技局洛阳市科技计划项目(1401006A)Supported by Foundation of Henan Educational Committee (14 A460025), Science and Technology Planning Project of Luoyang (1401006A) （14A460025）
