2A1-D10 面状柔軟アクチュエータによる手首動作支援 : 第2報:可動域拡大のための検討

抄録

This research describes a sheet shaped soft actuator that supports wrist's 2 DOF motion over the wide range. The system aimed at patients with one-sided paralysis by brain disease and orthopedic patients. A past actuator named WTA-band had the fault with a large resistance. Newly, the fluid actuator composed of a special tube and the cloth for the restraint is designed. It is based on the idea of decreasing resistance and expanding wrist's range of motion. ECSA was made by using the actuator. And Experiments showed that wearable actuator which is composed of 4 ECSA and a supporter has an ability to support wrist's 2 DOF motion. Finally, the effect was confirmed measuring the wrist's EMG.