高耐久ストレートファイバー型人工筋肉を用いた足関節リハビリ機械の剛性制御性能の検討

抄録

In recent years, home medical care has been promoted, and it is desired to develop a machine that facilitates ankle range of motion training. Adjusting the stiffness of the brace for rehabilitation facilitates the setting of training goals determined between the patient and the practitioner. In this study, we are developing an ankle rehabilitation machine that controls the compliance of pneumatic artificial muscles arranged in an antagonistic Placement. In this paper, we confirm that the control performance is improved by Highly Durable Straight Fiber type pneumatic Artificial Muscles, and examine the stiffness control performance of the ankle joint rehabilitation machine.