In 1990, we started to develop a Wearable Power Assist Suit, and in 1991 we fabricated a Powered Arm constructing the master and slave system in one unit by utilizing a rubber tube air actuator and sensing cuff, [ref. 1]. In 1994, we developed a Wearable Powered Suit constructed with powered arms, a powered waist, and powered legs [ref. 2], and finally in 2002, we developed a Stand Alone Type Wearable Power Assist Suit [ref. 3]. This suit was composed of newly developed air bag actuators driven by micro air pumps, newly developed muscle hardness sensors, and an embedded micro computer. The muscle hardness sensor was developed for detecting the muscle force driving joints. The micro computer was for calculation of the necessary joints torques to lift heavy objects. The calculation equations was derived by body mechanics. This suit could run continuously 20 minutes with 12 volts Ni-Cd portable batteries. The latest power assist suit can generate higher assist power, and is composed of compact body, a compact embedded micro computer, small and flat rotary sensors, and has newly designed muscle sensors which are embedded in 3-D mesh [ref. 4].
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Fuyohh....I want to be a SUPERMAN!