1A2-E23 冗長個数のER流体ブレーキを有する上肢リハビリ支援システムRedundant-PLEMOによる抵抗誘導訓練の検討

抄録

There are many patients of ataxia: paralysis caused by brain stroke or asynergia. Early detection of functional deterioration and sufficient rehabilitative training are necessary for those patients. The rehabilitation support systems for upper limbs using force display system are expected to quantify the effect of rehabilitative training, and can enhance the motivation of an operator. Especially, the application of a passive-type force display system is desirable for its high safety. However, there are some directions and positions for which it is difficult to display the force because of using only passive elements. To solve this problem, we have developed a rehabilitation system for improvement of controllability using redundant brakes had been suggested. In our study, we evaluate force display function of this system and propose directional guidance training for upper limb movement using this system.