Fundamental characteristic of novel actuation system with variable viscoelastic joints and magneto-rheological clutches for human assistance

摘要

>In this study, a variable viscoelastic joint system with a clutch for human assistance was proposed. The variable viscoelastic joint system comprised antagonized artificial muscles and magneto-rheological fluid brake. This system enabled the human assisting device, such as exoskeletons, to retain structural softness when compared with the existing devices driven by motor and reduction gear, which could only achieve superficial softness. In addition, a clutch system that provided high back-drivability to the wearer by structurally separating the device from the wearer was proposed. As an initial step in designing the human assisting device, a prototype with the proposed variable viscoelastic joint system for knee assistance is developed. Also, its control method was developed. Furthermore, experiments were conducted to confirm the influence of the proposed viscoelastic joint system and control method on the wearer.