@article{oai:kait.repo.nii.ac.jp:00000885,
 author = {山本, 圭治郎 and 兵頭, 和人 and 石井, 峰雄 and Yamamoto, Keijiro and Hyodo, Kazuhito and Ishii, Mineo},
 journal = {神奈川工科大学研究報告.B,理工学編},
 month = {Mar},
 note = {application/pdf, In order to realize a powered suit for assisting an urse caring a patient in her arm, a pneumatic hardness sensor of muscle and a pneumatic rotary actuator utilizing sliding boxes have been developed. The powered suit consists of shoulders, arms, waist and legs made of aluminum, and is fitted on the nurse. The powered suit was originated with the concept of a master and slave system in one body. The arms, waist and legs have the pneumatic rotary actuators. The pneumatic actuator consists of concentric round boxes sliding each other with infinitesimal clearance. The action of the arms, waist and legs of the nurse were sensed with a pneumatic muscle hardness sensor utilizing a cavity. The dent of pressure signal corresponding to the hardness of the muscle i.e., exerting force muscle. This paper gives design and characteristics of the powered arms, waist and legs using the slide box type pneumatic rotary actuator and the muscle sensor verifying its practicability.},
 pages = {25--31},
 title = {スライディングロータリアクチュエータと筋肉センサを用いたパワーアシストスーツの開発},
 volume = {24},
 year = {2000}
}