二つの回転円盤のジャイロトルクを利用したリハビリテーションロボットの開発

抄録

In this study, we propose a method using gyro torque of two rotating discs as a new approach for rehabilitation robots. The robot has two rotating discs and two servomotors, and by combining their rotary motions, it is possible to generate strong torque with respect to one axis. Compared to rehabilitation robots using general large servo motors, this method is superior joints are not as the restricted, and rotating parts are not exposed. As a preliminary experiment, we show the combination and cancellation of two gyro torques. A gyro torque generator was manufactured, and the output torque was measured. Based on the measurement results, it was confirmed that the two gyro torques were correctly combined and canceled. Next, to evaluate the effectiveness of the method, we developed a robot capable of rehabilitation of the elbow joint. Elbow joint rehabilitation support was performed on nine subjects using the developed robot. Using an electromyograph, we compared the difference in action potentials when the device was worn. We confirmed the effectiveness of this method from the measurement results.