空気圧ソフトアクチュエータによる肘関節運動装置の試作と動作試験

抄録

The symptoms of joint range of motion limitation make life difficult and aggravate quality of life. Usually, physical therapists provide rehabilitation training to prevent it. In this study, we have developed a passive motion device for pronation and supination of the forearm. This paper describes the prototype and the evaluation test of the device. We used a pneumatic soft actuator that can press directly on the affected area to develop the device. The pneumatic soft actuator consists of aluminum laminate films and an air supply tube. The device performs these motions for the forearm by the actuator directly pushing the wrist. In the evaluation test, the force generated by the pneumatic soft actuator was measured and we had a questionnaire about performance of the device from 10 subjects. The all subjects were able to perform passive movements of internal and external rotation of the arms. The tests also revealed that the device could allow the subjects to move otherwise from 60% to 80% of their reference range of motion.