J1102-2-1 空気式パラレルマニピュレータを用いた手首リハビリ訓練装置の開発(ライフサポート2:リハビリテーション・機能制御)
詳細
We aim at developing a mechanical device to support humans rehabilitation motion of their wrist joint instead of or to help a physiotherapist. Pneumatic parallel manipulator is introduced as the mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator's feature of multiple degrees of freedom is suitable for a complex motion of human wrist joint. We propose scheme to acquire the physiotherapist's rehabilitation motion and execute them to the patient. The validity of the proposed system is examined through some experiments.
