1A1-C11 Development and Application of a Tendon Driven System Using a Pneumatic Balloon

Abstract

In this paper, a new type of a tendon driven system using a pneumatic balloon is proposed. This system consists mainly of a tendon driven mechanism and a silicon tube. We can select two kind of the system: one is a high power type system and other is a long stroke type system. These systems have a difference in how to roll a tendon. We chose high power type system and made a rehabilitation instrument for an ankle with it. Movement of a rehabilitation instrument depends on a pulley with foot part of AFO pulled by a tendon drive system. As a result of having experimented on movement of a rehabilitation instrument, the actuator is enough to output the power for turn of an ankle.