Modeling and Application of a Pneumatic Flexible Linear Brake for Power Assist Devices-Reference-Cited by-同舟云学术

Modeling and Application of a Pneumatic Flexible Linear Brake for Power Assist Devices

Published:2024-08-20 Issue:4 Volume:36 Page:836-846
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:JRM

Author:

Watanabe Takumi¹,Sasaki Daisuke²^ORCID,Kadowaki Jun³,Yase Hayato⁴^ORCID,Harada Kaisei⁵

Affiliation:

1. Graduate School of Science for Creative Emergence, Kagawa University, 2217-20 Hayashi-cho, Takamatsu-shi, Kagawa 761-0396, Japan

2. Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-cho, Takamatsu-shi, Kagawa 761-0396, Japan

3. Department of Electro-Mechanical Systems Engineering, National Institute of Technology, Kagawa College, 355 Chokushi-cho, Takamatsu-shi, Kagawa 761-8058, Japan

4. Faculty of Science and Engineering, Kindai University, 3-4-1 Kowakae, Higashiosaka, Osaka 577-8502, Japan

5. Graduate School of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu-shi, Kagawa 761-0396, Japan

Abstract

Several power assist robots have been developed to reduce workloads, and address worker shortages and an aging workforce. Previously, the authors developed a power assist device to maintain shoulder posture using a braking mechanism; however, the device presented technical issues regarding the rigidity and weight of the mechanism. To address these issues, in this study, a flexible linear brake (FLB), a brake mechanism driven by negative pressure, was developed for power assist devices. Additionally, a braking force model for the FLB is proposed; the proposed model was verified by comparing the measured and modelled values. Finally, a shoulder assist device that uses the FLB and designed based on the proposed model is discussed in detail.

Funder

Japan Society for the Promotion of Science

Publisher

Fuji Technology Press Ltd.

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