ばね要素を複合的に用いた柔軟な手首機構を有する前腕部運動支援装置の開発 ー柔軟要素による動作支援機構開発に関する報告ー

日隈 友仁; 金澤 昌範; 木口 量夫; 荒田 純平

doi:10.1299/jsmermd.2016.2P1-02a2

2016

Session ID : 2P1-02a2

DOI https://doi.org/10.1299/jsmermd.2016.2P1-02a2

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 08, 2016 - June 11, 2016

Forearm Exoskeleton Device for Motion Support with a Soft Wrist Joint using Parallel Springs

ーAugmentation of Support Device Development by Elastic Elementsー

Tomohito HIGUMA, Masanori KANAZAWA, Kazuo KIGUCHI, Jumpei ARATA

Author information

Keywords: Wearable robot, Exoskeleton, Rehabilitation, Compliant mechanism

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

We are currently developing an active 4 DOF forearm exoskeleton device that has 2 DOF on the elbow and 2 DOF on the wrist. Human wrist joint is known that it has a complex structure with its center is moving along the motion. We thus developed a soft wrist joint mechanism by introducing parallel springs.

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