Development of an Endoskeletal-Type Leg Assistive Orthosis Using Pneumatic Rubber Artificial Muscles

The aim of this study is to develop an endoskeletal-type assistive orthosis to assist elderly and amateur farmers in performing agricultural tasks in Japan. The proposed prototype orthosis is driven by pneumatic rubber artificial muscles spatially arranged along the legs. For this purpose, a novel pneumatic rubber artificial muscle that has both the elasticity characteristic of rubber and properties of artificial muscles was developed based on the McKibben-type artificial muscle. Subsequently, the prototype assistive orthosis was evaluated by measuring muscle activity. Although an assistive effect was confirmed in the half-crouching posture, the results indicate the need to improve the method used to apply air pressure. In the future, the assistive effect should be improved by adding an assistive target.