Abstract
This paper aims to develop a wearable device to assist the wrist motion so that the paralyzed patients can be treated for rehabilitation with staying in their own house. In order to realize it, the simple and the light-weighted mechanism, which can perform closely to the actual manipulation on the patient's wrist by the physical therapist, is proposed. It is driven by the combination of a wire and a fluid actuator with spiral structure which are suitable for generating the stretch motion on the wrist with its pushing the carpal bones. The validity of the actuator and the mechanism will be experimentally verified in this paper.
