| 基于柔性气压驱动器的可穿戴式腰部助力机器人研究 |
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| 引用本文： | 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. 自动化学报, 2016, 42(12): 1849-1858. doi: 10.16383/j.aas.2016.c160211 |
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| 作者姓名： | 李向攀 韩建海 郭冰菁 张彦斌 赵菲菲 则次俊郎 |
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| 作者单位： | 1.河南科技大学机电工程学院 洛阳 471003 中国;;2.日本津山高等专门学校 津山 708-8509 日本 |
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| 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） |
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| 摘 要： | 针对老龄化社会对于康复和看护助力搬运的需要，提出了用气压驱动器实现轻量、柔性助力、穿戴舒适的可穿戴式腰部助力机器人.机器人采用无外骨骼的结构设计，可以给护理人员在提升重物和静态保持作业时输出腰部所需助力，降低下腰痛（Low back pain，LBP）致病风险.通过对重物搬运作业中穿戴者竖脊肌表面肌电信号（Surface electromyography，sEMG）评估、基于测力平台最大搬举重量测试、静态弯腰负重作业下人体重心（Center of gravity，COG）移动轨迹等相关实验，验证了助力有效性.
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| 关 键 词： | 可穿戴式 助力机器人 柔性气压驱动器 外骨骼 |
| 收稿时间： | 2016-02-29 |
Development of Wearable Power Assist Robot for Low Back Support Using Soft Pneumatic Actuators |
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| LI Xiang-Pan, HAN Jian-Hai, GUO Bing-Jing, ZHANG Yan-Bin, ZHAO Fei-Fei, NORITSUGU Toshiro. Development of Wearable Power Assist Robot for Low Back Support Using Soft Pneumatic Actuators. ACTA AUTOMATICA SINICA, 2016, 42(12): 1849-1858. doi: 10.16383/j.aas.2016.c160211 |
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| Authors: | LI Xiang-Pan HAN Jian-Hai GUO Bing-Jing ZHANG Yan-Bin ZHAO Fei-Fei NORITSUGU Toshiro |
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| Affiliation: | 1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003, China;;2. Tsuyama National College of Technology, Tsuyama 708-8509, Japan |
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| 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). |
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| Keywords: | Wearable power assist robot soft pneumatic actuator exoskeleton |
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