Wearable robotic system using hydraulic actuator

Abstract

This study presents wearable robotic assistant system of working suit type for worker in field site of construction and ship-building. The worker carrying heavy tools such as hammer, grinder and engine saw should work in closed working space or on top of high wall in large and high structure. The robotic power assistant system is realized by developing mechanism and control technology to reduce the working load to be transferred to human body of worker. It is developed to realize optimal working motion in human friendly. This study shows the hydraulic driving system and link mechanism of wearable structure to be operated in a variety of motion. It shows the control technology of robotic wearable system to reduce the effect of reaction force of handling tool.