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Title
Japanese: 
English:Hydraulic Artificial Muscle-Powered Knee Support Wearable Device with Four-bar Linkage Mechanism 
Author
Japanese: KITTISARES Sarin, 難波江 裕之, 遠藤 玄, 鈴森 康一, 櫻井 良, 大野 信吾.  
English: Sarin Kittisares, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, Ryo Sakurai, Shingo Ohno.  
Language English 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2020 予稿集 
English:Proceedings of the 2020 JSME Conference on Robotics and Mechatronics 
Volume, Number, Page        
Published date May 27, 2020 
Publisher
Japanese:一般社団法人 日本機械学会 
English:The Japan Society of Mechanical Engineers 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2020 
English:2020 JSME Conference on Robotics and Mechatronics 
Conference site
Japanese:オンライン開催 
English: 
Official URL https://robomech.org/2020/
 
Abstract Hydraulic cylinders have been selected as actuator in earlier exoskeletons due to low weight and high force density. In this paper, we propose a knee exoskeleton using Hydraulic Artificial Muscle (HAM) and four-bar knee joint mechanism. The HAM has similar advantages to hydraulic cylinders, but lighter and compliance, making it suitable for wearable robot applications. To allow the device to better comform to human knee kinematics, a four-bar linkage mechanism was utilized. The human knee biomechanics is a combination of rolling and sliding on the condyle, which can be emulated using four-bar linkage. To adapt the HAM to the link mechanism, we proposed and Angled Bar as a modification to the existing mechanism. The Angled Bar adjusts the torque output and motion range of the proposed device.

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