1A1-D03 手首の屈曲伸展動作を把持動作へ変換する駆動源を有さないハンドエグゾスケルトン装置(リハビリテーションロボティクス・メカトロニクス(1))

抄録

In the authors' earlier publication, a hand exoskelton device using layered spring blades has been presented. The advantages of the presented mechanism compared to other devices are compact, lightweight and high adaptability to the environment thanks to the compliant structure. In this paper, as a further extension of the presented mechanism, we propose a motor-less hand exoskelton device with a motion translation capability from the wrist exion and extension to the grasping.