Preliminary Result on Passive Wearable Device using Origami-based Vacuum Pneumatic Artificial Muscles

As the result of previous origami-based vacuum pneumatic artificial muscles (OV-PAM) contributing to the stable force output throughout the actuation, we tried to make use of the stable force output and apply it to a wearable device. To make use of that, we began with designing a new polygonal actuator using a new manufacturing method. With the working area of 325mm2, the actuator managed to produce approximately 70N when 70kPA negative pressure was applied. The output force showed a decrease of about 20% to 50kpa when the actuator was actuated to half of its total actuation length. This force output to actuator ratio was taken into consideration when designing the wearable device making sure that the area with only stable force output will be applied to wearer. The initial design of the wearable device proposed an investigation of the application of the wearable device during squat lifting. To make sure that the actuator did not obstruct the movement of wearer, a tendon mechanism was designed to transmit the force produced by the actuator.