遠隔運動中心機構を用いたパッシブ式上肢補助装置の設計

抄録

A passive type assistive device for the upper limb using a double parallelogram remote center of motion: RCM mechanism was designed to reduce the burden of lifting and upward work in the work environment. Simple and compact structure that there are no frames on the user’s shoulder was achieved by using the RCM, so that this device can use in narrow aisles in the warehouse and pass the door easily. And also, it was achieved by the RCM, that the rotational center of the linkage corresponds with rotational center of shoulder joint. The gas spring was used as the source of assist force. The placement of the gas spring was determined by examining all possible candidates (11 locations) so that appropriate assistance could be provided according to the angle at which the arm was raised. We built a prototype of the device and confirmed the effectiveness of the device's assistance by electromyographic measurements.