Development of a Three-Layer Fabric Mechanism for a Passive-Type Assistive Suit

Chi Lok Wan, Toshifumi Ishioka, Chiaki Kanda, Keisuke Osawa, Kenji Kodama, Eiichiro Tanaka

Research output: Contribution to journalArticlepeer-review


This paper proposes a three-layer elastic cloth fabric mechanism for an assistive suit with adjustable structure (based on a two-layer non-adjustable structure) to achieve different assistive force profiles. This increases the assistive force on the lower-back muscle group and alleviates the undesired pre-tension that acts on a user when the rubber belt located on the back is pulled to provide a higher assistive force. With the lower pre-tension, users would not encounter body fatigue as rapidly as in the past. The adjustable feature en-ables the structure to provide a force that increases gradually to a high level over a short distance without pre-tension. An experiment involving the measurement of muscle activities is conducted to evaluate the variation in assistive force in the lower back by comparing the three-layer suit to the two-layer non-adjustable suit. The experimental results show that the new three-layer structure successfully assists without pre-tension in the lower-back muscle group simi-lar to the two-layer structure with pre-tension. A simple questionnaire is also administered to collect feed-back from participants on the differences between the three-layer suit and two-layer suit in terms of wearing perception. Over half of the participants reported that the perception of pre-tension in the three-layer suit is lower than that in the two-layer suit.

Original languageEnglish
Pages (from-to)1348-1360
Number of pages13
JournalJournal of Robotics and Mechatronics
Issue number6
Publication statusPublished - 2022 Dec


  • assistive suit
  • er-gonomics
  • human evaluation
  • mechanical design
  • mechanism

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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