Development of Semi-Crouching Assistive Device Using Pneumatic Artificial Muscle

• Published in: Journal of robotics and mechatronics Vol. 32; no. 5; pp. 885 - 893
• Main Authors: Saito, Naoki, Furukawa, Daisuke, Satoh, Toshiyuki, Saga, Norihiko
• Format: Journal Article
• Language: English
• Published: Tokyo Fuji Technology Press Co. Ltd 20.10.2020
• Subjects: Artificial muscles; Construction; Weight reduction
• ISSN: 0915-3942; 1883-8049
• DOI: 10.20965/jrm.2020.p0885

This paper describes a semi-crouching assistive device using pneumatic artificial muscles. The goal of this device is to reduce the load on the lower back when performing work in the semi-crouching position. The load on the lower back is reduced by decreasing the compressive pressure on the lumbar disk of the lower back. This compressive pressure increases as the contraction force of the erector spine increases. Therefore, it is important to reduce the muscle activity of the erector spine. Based on the analytical result of a worker’s position model, the proposed device adopts a scheme to push the chest of the user as an appropriate assistive method. Additionally, the analytical result shows that a reduction in weight of the device is also important for decreasing the load on the lower back. Based on these results, we prototyped a lightweight semi-crouching assistive device that can generate sufficient assistive force via a pneumatic artificial muscle, which has high power to weight ratio. This device was experimentally evaluated via electromyogram of the erector spine when the user maintains a semi-crouching position. The experimental results confirmed the usefulness of this device.