Abstract
The motoric features of human being have been often searched to apply them to robots for human assist, which strongly requires adaptability to human. This paper describes development of a physical rehabilitation machine, one of the typical examples of human assist systems. The proposal of the mechanism is the actuator arrangement simulating that of human. The mechanism accomplishes high adaptability to human due to some specific characteristics of muscle arrangement with antagonistic pairs of mono-articular and bi-articular muscles.
