Verification of assistive effect generated by passive power-assist device using humanoid robot

摘要

We are developing a passive power assist supporter called Smart Suit Lite. Smart Suit Lite is a compact and lightweight power assist device that utilizes the elastic force of elastic belts, and its purpose is reduction of lumbar load. We have proposed the design method of Smart Suit Lite based on a digital human model and motion measurements. This paper presents the basic experiment using humanoid robot HRP-4C for verifying the design model of the elastic force and its assistive effect. In the experiment, the joint torques of the robot and the elastic force of Smart Suit Lite were measured. We observed the decrease of the chest torque by the assistive force during forward bending motion. Furthermore, the comparison between the simulation results and the experimental result is described.