Fabrication of "18 Weave" Muscles and Their Application to Soft Power Support Suit for Upper Limbs Using Thin McKibben Muscle

In this letter, we propose a novel active weave named "18 Weave" using a thin McKibben muscle and report on the application to a prototype soft power support suit for the upper limb. The active weave utilizes the flexibility of the thin McKibben muscle, which is used for warps and wefts. F...

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Published in:IEEE robotics and automation letters 2019-07, Vol.4 (3), p.2532-2538
Main Authors: Abe, Tomoki, Koizumi, Shoichiro, Nabae, Hiroyuki, Endo, Gen, Suzumori, Koichi, Sato, Nao, Adachi, Michiko, Takamizawa, Fumi
Format: Article
Language:English
Subjects:
Actuators
Artificial muscles
Fabrics
Flexibility
Force
hydraulic/pneumatic actuators
Muscles
Muscular fatigue
Rubber
soft robot applications
Strain
Wearable robots
Weaving
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cited_by cdi_FETCH-LOGICAL-c335t-dbe0ae927c1821c7222b3a2ef8fc85ac5f2845f8a9977033ef25707b238054343
cites cdi_FETCH-LOGICAL-c335t-dbe0ae927c1821c7222b3a2ef8fc85ac5f2845f8a9977033ef25707b238054343
container_end_page 2538
container_issue 3
container_start_page 2532
container_title IEEE robotics and automation letters
container_volume 4
creator Abe, Tomoki
Koizumi, Shoichiro
Nabae, Hiroyuki
Endo, Gen
Suzumori, Koichi
Sato, Nao
Adachi, Michiko
Takamizawa, Fumi
description In this letter, we propose a novel active weave named "18 Weave" using a thin McKibben muscle and report on the application to a prototype soft power support suit for the upper limb. The active weave utilizes the flexibility of the thin McKibben muscle, which is used for warps and wefts. From the proposed structure, we confirmed that a 19.4% additional displacement is achieved compared to a single artificial muscle. The flexible and lightweight assistance suit can be realized with the active weave that has advantages of flexibility and shape adaptability. We confirmed the compliance and fatigue alleviation effect of the suit. Measurements of the myopotentials confirmed significant decreases in the activities of the anterior deltoid, posterior deltoid, biceps brachii, and triceps brachii muscles in their integrated electromyogram (iEMG).
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source IEEE Electronic Library (IEL) Journals
subjects Actuators
Artificial muscles
Fabrics
Flexibility
Force
hydraulic/pneumatic actuators
Muscles
Muscular fatigue
Rubber
soft robot applications
Strain
Wearable robots
Weaving
title Fabrication of "18 Weave" Muscles and Their Application to Soft Power Support Suit for Upper Limbs Using Thin McKibben Muscle
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