Study on trunk posture support device utilizing variable stiffness characteristics by pneumatic soft actuator

Kyphosis causes decline in respiratory and circulatory functions owing to compresses of internal organs. The purpose this study is develop a posture keep assist device. device constructed with multiple resin components McKibben type artificial rubber muscle. This at initial state has flexibility because the are separated. On other hand, component can be connected by pressurized shape which all imitates spine-curve fit human back. So, proposed retain entire range trunk. Target pressure correct determined from mathematical model In paper, structure described, control method based on muscle discussed. Finally, effectiveness verified experiments subject wears actually. We reveal correcting trunk using results.