2022 年 15 巻 1 号 p. 33-39
Based on elderly society and decreasing birth rates in Japan, the rehabilitation device that can be used in home or hospital without assistance has been desired. In the previous study, a tetrahedral shaped flexible actuator using three extension type flexible pneumatic actuators was proposed and tested as a wrist rehabilitation device. The tetrahedral shaped actuator can extend longitudinally and bend toward any radial direction. In this study, a mobile robot using six tetrahedral shaped actuators that can use a core training and amusement for patients and elderly is proposed and tested. In this paper, the construction and operating principle of the tested robot was described. The control system using a micro-computer and 18 on/off valves was also described. In addition, the walking and rotating tests using the tested robot was carried out.
