抄録
In this study, we proposed simple rehabilitation equipment for a patient in the need of rehabilitation of the wrist and upper limb. The rehabilitation equipment was constructed using a tensegrity structure composed of several elastic elements such as a rubber and rigid bodies. Since the structure is statically stable and has restoration characteristics, we can estimate external force/moment by using the geometric information of the rigid bodies. The external force/moment estimation method was proposed and its validity was confirmed through several simulations.
