DESIGN OF WEARABLE TENSEGRITY STRUCTURES FOCUSING ON THE TENSION PROPAGATION FUNCTION THROUGHOUT THE BODY

Abstract Humans are able to perform skilful movements by coordinating muscles throughout the body. It has been revealed that not only neural mechanisms but also direct and dynamic interactions between body parts contribute muscular coordination. Tensegrity, accurately biotensegrity, can be considered basic mechanism for interactions. Tensegrity structures composed of tensile compressive components, lighter more flexible than existing rigid structures. The authors investigated designing wearable tensegrity extending human motor ability, especially assisting in carrying heavy objects. Based on Flemons' spine model, we devised a columnar structure expanded size whole body, connected each four columns front back right left side. deform flexibly due tension distribution when external force is applied, follow motions twisting trunk walking. Experimental results objects showed some muscle activities around hip knee tended decrease using those joints extended.