Abstract
Several exoskeleton robots are developed for a rehabilitation. These robots assist the user to execute the transitive motion rehabilitation by a power assist. Therefore, we propose a new robotics system which execute a automatic movement rehabilitation by target motion instruction. This proposal robot is a wearable and flexible body like clothes, and actuated using the wire-driven mechanism. This robotics system decides the desired posture based on the operator's posture, and calculates the each corrected joint torque. Since this robot executes the force display using wire driven, the tensional force is calculated by a quadratic programming. We quantitatively evaluated the mechanical contribution of the proposal method using computer simulations. From the simulation results, we expect the effectiveness of an occupational therapy and a physical therapy, and this robot can assist the operator to induct the advanced skillful motions.
