Abstract
Several exoskeleton robots have been developed for use in rehabilitation. These robots help users to execute transitive motion rehabilitation with power assist. We propose a new robotics system that executes automatic movement training using target motion instruction. The proposed robot is wearable with a flexible body like clothes, and is actuated using a wire-driven mechanism. In this study, we treat adjusting a balance of each foot reaction force to prevent pain of the healthy limb. Then, we developed a prototype of this wearable robot that performs the force display using feedback information of the each foot reaction force. We evaluated the mechanical contribution of the proposed wearable robot quantitatively. The experimental results confirm that this robot can assist to recover the movement of walking function.
