International Journal of Automation Technology · 2011 · 73 citations · 24 references
EngineeringBiomedical EngineeringMechanical EngineeringErgonomicsHuman PerformanceRoboticsMuscle Signal ProcessingMuscular StrengthNeuromuscular Function AssessmentRobotic ExoskeletonsElectromyographyExoskeleton BiomechanicsExoskeleton EvaluationExoskeletonsHuman-exoskeleton InteractionLiftingMuscle Activation EstimationPerformance Estimation
Exoskeleton systems have been developed, yet quantitative performance estimates are lacking; the McKibben artificial muscle introduced a compact, lightweight, reliable muscle suit that enables lifting and carrying, and lifting is a key practical task. The study aims to develop a wearable muscle suit that directly supports physical motion and report its performance. Using integral electromyography, the authors quantified suit performance and posture‑preserving efficiency, and enhanced forearm assistance for vertical lifting. Load‑carrying and lifting experiments demonstrate the muscle suit’s effectiveness.
Exoskeleton systems have been largely developed in spite that quantitative performance estimation has not been reported so far. Consequently, we have been developing the wearable muscle suit for direct and physical motion supports with relevant reports on the performance. The McKibben artificial muscle has introduced “muscle suit” compact, lightweight, reliable, and wearable “assist-bots” enabling users to lift and carry heavy objects. Applying integral electromyography (IEMG), we show the results of quantitative suit performance and posture-preserving efficiency. However, for practical use, lifting seems to be one of the most important tasks for users. We improve the forearm so that the muscle suit assists the user in vertical lifting. Load carrying and lifting experiments show the muscle suit’s effectiveness.
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Development of robots for rehabilitation therapy: the Palo Alto VA/Stanford experience.
Charles G. Burgar, Peter S. Lum, P. Shor et al. · PubMed · 2001 · 678 citations