Abstract
People with slight disabilities on motion capability can be active in daily life using properly designed motion-assisting devices. Using these devices in various cases would help them as rehabilitation in a broad sense. We developed a robotic orthosis capable of helping human motion by forearm. This orthosis was carefully designed such that mechanical safety for human beings could be ensured. A control scheme for power assistance and motion guide is proposed. The performance of the control scheme is examined by several experiments.
