고지 작업 보조용 다자유도 중력보상 기반의 중량 보조 기구

To prevent accidents due to accumulated muscle fatigue in work using heavy tools, various methods have been proposed to support workers' muscle strength. Collaborative robots and motor-based muscle assistance devices have limitation in time due to the use of power, and muscle assistance devices based on counterbalance mechanism have the disadvantage of not dealing with the moment load of a rod-shaped tool. In this study, to overcome these limitations, we developed a weight assist device that does not require power and can provide appropriate strength support in any posture by applying multi degree-of-freedom counterbalancing technique to compensate for the gravitational torque caused by the moment load of a tool. To verify the performance of the proposed device, comparative experiments were performed by attaching an EMG sensor to the human arm, and the muscle strength assistance performance of the device was confirmed based on the experimental results.