Verification tests of an electrically actuated power assist suit for walking and lifting motion

Abstract

We have been developing power assist suits as labor-reducing equipments for non-handicapped elderly, weak young and female workers. This paper describes the verification tests of validity of an electrically actuated power assist suit for practical use. This power assist suit supports the motion of antigravity direction using electric motors and arranges passive joints appropriately in order not to disturb wearer's motions. We realized the support of walking and lifting a heavy object. It is necessary to detect wearer's intention and predict following motion because the power assist suit is required to move simultaneously with the wearer. We estimate the motion intentions using hip joint angles, foot switches and glove switches, without using bioelectrical signals such as surface electromyogram signals, which usually have inferior S/N ratio. The experimental results of energy expenditure and oxygen consumption rate show the effectiveness of proposed mechanism and control method of power assist suit.

Keywords

• power assist suit
• exoskeleton
• wearable robot
• verification
• walking
• lifting motion
• electric actuator
• energy expenditure
• oxygen consumption rate