平行リンク機構を用いた受動型手指リハビリテーション装置の研究

抄録

Patients who have hemiplegia are increasing due to the aging of society in Japan; the number of therapists who support rehabilitation of hemiplegia is insufficient. Therefore, the demand of robots which support the rehabilitation is increasing. In the hand rehabilitation, it is important to conduct the finger pinching motion to perform activity of daily living. However, as many conventional rehabilitation robots are driven by feedback control, the system has time loss to drive itself. From this reason, we aimed to develop a passive finger rehabilitation device for pinching motion. This device consists of only mechanism that does not include actuator and sensor. The device was able to conduct the finger motion without time loss between master and slave. In this paper, we report the concept, the mechanism, and basic characteristics of the proposed rehabilitation device.