Abstract
This paper proposes a method to prevent contracture, facilitating rehabilitation treatment of patients with paralysis, even staying at their own house. In order to realize it, an actuator which is installed directly to the human body and can perform natural movement is developed. The aim of this actuator is to have no mechanical rotational center and still be able to realize a one-rod shaped structure is, Hence, a Variable Trajectory Rotary Actuator (Vat-Rotary hereafter) is proposed and its design is explained.
