Motion-Based-Design of Elastic Material for Passive Assistive Device Using Musculoskeletal Model

摘要

We are developing a passive power assist device, "Smart Suit Lite." Smart Suit Lite is a compact, lightweight power assist device that utilizes the elastomeric force of elastic materials. We have developed a "motion-based assist method" in order to design Smart Suit Lite for particular motions. We have also developed an extended musculoskeletal model which has "Skin segments" that aid in analyzing assistive force. In this paper, we target the movements of caregivers. From three-dimensional motion data and an extended musculoskeletal model, we analyze human muscle forces and assistive forces. We then design the arrangement and properties of the elastic materials, based on the motion-based assist method. Finally, we verify its assistance effect through basic experiments.