title: Prototype design of a wearable metal hydride actuator using a soft bellows for motor rehabilitation.
abstract: A bedside and home rehabilitation system for people with motor disabilities due to stroke or the aging process requires a human-compatible actuator with softness, low noise and a high power-to-weight ratio. To achieve these types of joint motor rehabilitation systems, we designed a wearable metal hydride (MH) actuator using a soft bellows. The purpose of the current study is the development the soft and light bellows made of a polymer laminate film for the MH actuator. As a result of experimental tests, this soft bellows weighs 20 times less and stretches 30 times longer than the metal bellows used in a conventional MH actuator, and it has hydrogen impermeability, flex durability and adequate compliance for human joints. The MH actuator using the soft bellows can drive at a slow and safe enough speed for motor rehabilitation of patients' limbs. These preliminary findings support the efficacy of an MH actuator with a soft bellows for the purpose of developing a system for motor rehabilitation or human power assist.
authors.affiliation: Research Center for Advanced Science and Technology, the University of Tokyo, Japan. ino@rcast.u-tokyo.ac.jp
authors.forename: Shuichi
authors.initials: S
authors.lastname: Ino
authors.forename: Mitsuru
authors.initials: M
authors.lastname: Sato
authors.forename: Minako
authors.initials: M
authors.lastname: Hosono
authors.forename: Sawako
authors.initials: S
authors.lastname: Nakajima
authors.forename: Kazuhiko
authors.initials: K
authors.lastname: Yamashita
authors.forename: Toshiaki
authors.initials: T
authors.lastname: Tanaka
authors.forename: Takashi
authors.initials: T
authors.lastname: Izumi
mesh_terms: D000497:Alloys / Q000737:chemistry*; D006233:Persons with Disabilities / Q000534:rehabilitation; D011211:Electric Power Supplies; D004867:Equipment Design; D004869:Equipment Safety; D006801:Humans; D006859:Hydrogen / Q000737:chemistry*; D007596:Joints / Q000503:physiopathology; D008422:Materials Testing; D008670:Metals / Q000737:chemistry*; D009038:Motion; D011108:Polymers / Q000737:chemistry; D012046:Rehabilitation / Q000295:instrumentation*; D012656:Self-Help Devices; D013997:Time Factors
chemical_list: D000497:Alloys; D008670:Metals; D011108:Polymers; D006859:Hydrogen