| Popis: |
In this study, a new actuator ‘Hybrid artificial muscle’ was proposed to get closer the characteristics of biological muscle by combining McKibben type pneumatic artificial muscle and woven rubber. Then, an assist suit with the hybrid artificial muscle, termed ‘Hybrid back’, was developed so as to enhance the practicality of our previous assist suit ‘Aero back’. First, models of the conventional artificial muscle and the hybrid artificial muscle were derived. Then, the validity of the derived model was verified through measurement experiment, and it was confirmed that the hybrid artificial muscle is closer to the characteristics of biological muscle than the conventional artificial muscle. Second, sensory evaluation test was executed for holding a heavy object with half-sitting posture. Then, ‘Hybrid back’ showed equal or better effect than ‘Aero back’. Third, lumbar load model wearing ‘Hybrid back’ was proposed, and lumbar loads under use of ‘Hybrid back’ and use of ‘Aero back’ were calculated respectively through the lumbar load model. Then, it was confirmed that erector spine muscular strength and lumbar disc compression force were decreased in use of ‘Hybrid back’ compared with ‘Aero back’, though lumbar disc shearing force was increased instead. |
