Artificial Muscle Enabled Wearable Assistive Robots

Abstract

<p>Due to potential mechanical, kinematic, and control incompatibilities in existing wearable robotic solutions, this paper introduces artificial muscles and wearable assistive robots inspired by the Hill muscle model and neuromuscular control principles. These artificial muscles are engineered to mimic the mechanical properties and control mechanisms of natural muscles, aiming to achieve synchronized force application with human muscles to enhance movement, particularly for elderly individuals. The research utilizes twisted string actuators (TSA) to construct a robotic actuator that features the Contractile Element (CE), Parallel Elastic Element (PE), and Series Elastic Element (SE). These components synergistically emulate natural muscle behavior, ensuring compliance and adaptability. The system integrates EMG signals with recruitment and rate coding strategies to synchronize the forces of artificial muscles with those of natural muscles, enhancing user synchronization and enabling precise force control. This innovative approach holds significant promise for addressing mechanical, kinematic, and control incompatibilities, thus providing effective support in daily activities for the elderly and ensuring more natural interactions between human and robotic systems.<br></p>