Development and Evaluation of Arm Lifting Assist Devices

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-12-20 DOI:10.20965/jrm.2023.p1675

Ryota Jitsukawa, Hiroshi Kobayashi, Kenta Matsumoto, T. Hashimoto

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引用次数: 0

Abstract

Musculoskeletal disorders are common occupational diseases that have become a major social problem. Mechanization has been promoted as a solution to this problem. However, several tasks still require manual labor, such as fruit harvesting in orchards, making the introduction of machinery difficult in many cases. Recently, from the viewpoint of worker protection and ergonomics, various wearable robots for work support have attracted attention. In Europe and the US, there has been much development of arm-lifting assistive devices that support upward work while holding tools in the hands for industrial applications. However, most of the devices currently on the market are expensive compared to their assistive capabilities. Against this background, we developed three types of arm-lifting assistive devices with different concepts (an exoskeleton arm-lifting assistive device utilizing a gas spring, an exoskeleton arm-lifting assistive device utilizing McKibben-type artificial muscles, and an arm-lifting assistive suit utilizing rubber) to develop inexpensive, high-power devices. Furthermore, comparative verification of the assist effectiveness of each device was conducted.

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手臂提升辅助设备的开发与评估

肌肉骨骼疾病是常见的职业病，已成为一个重大的社会问题。机械化已被作为解决这一问题的办法加以推广。然而，有几项工作仍然需要手工劳动，例如果园里的水果采摘，因此在很多情况下很难引进机械。最近，从工人保护和人体工程学的角度来看，各种用于工作支持的可穿戴机器人引起了人们的关注。在欧洲和美国，手臂举起辅助设备的发展非常迅速，这些设备可以在工业应用中支持手持工具向上工作。然而，与辅助功能相比，目前市场上的大多数设备都价格昂贵。在此背景下，我们开发了三种不同概念的手臂举升辅助装置（利用空气弹簧的外骨骼手臂举升辅助装置、利用麦基本型人工肌肉的外骨骼手臂举升辅助装置和利用橡胶的手臂举升辅助服），以开发出廉价、高功率的装置。此外，还对每种装置的辅助效果进行了比较验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.