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

抄録

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.