2009 年 3 巻 5 号 p. 768-780
Many kinds of actuator-based (active type) haptic device have developed and utilized as rehabilitation robots. These systems have great advantages for rehabilitative activities, for example assistive forces and so on. However, from the view point of safety, we have room to consider utilizing brake-based (passive type) haptic devices as rehabilitation-tools. The effects and roles of active / passive force feedback for rehabilitative trainings have not been clarified yet. In this study, we have developed an active / passive switchable rehabilitation system for upper limbs (Hybrid-PLEMO) to address these questions. In this paper, we describe the force-feedback mechanism of the Hybrid-PLEMO.
