抄録
This paper presents a prototype of exoskeletal hand finger load reduction device for early stage of Rheumatoid Arthritis (RA) patients. The device detects the joint load and locks its links automatically to reduce the applied load, i.e. in locked mode of the patient finger joints, the device prevents patiants' heavy joint load which causes the RA worsening while avoiding the difficulties for the patients in daily life activities in unlocked mode. The device was realized with a frame, four miniature units controlled by electro-hydraulic system, and force sensors to detect patients' finger motion. Verification experiments proved not only the load reduction ability but also flexible task execution ability.
