Mechanics and Structure for Mobile Power-Assist Equipment

Conventional power-assist equipment is driven by a hydraulic/pneumatic actuator or a motor, resulting in problems relating to back driving and intrinsic safety. We aim to develop power-assist equipment that is safe to use and allows back-driving. We previously developed an electro-rheological gel linear actuator, which is mechanistically safe actuator. In this paper, we discuss how we developed the power-assist arm and moving mechanism for power-assist equipment. Additionally, we discuss how we reduced the control torque of the power-assist arm mechanism through mini-max optimization. Finally, we manufacture a mock-up of the power-assist equipment.