脳卒中片麻痺患者の自主起立トレーニングのための支援ロボット

- 療法士による誘導動作の模擬のための制御法と有効性検証 -

抄録

Standing-up training guided by a therapist is effective for the recovery of leg function of patients with slight hemiplegia after stroke. The final goal of our research is to develop a rehabilitation support robot for self-standing-up training of hemiplegic stroke patients to restore normal standing-up motion. The concept of this support robot is a passive robot using electromagnetic brakes, which is equipped with teaching/guided function for therapist’s guiding motion. In this study, we proposed a control method of the support robot for simulating therapist’s guiding motion. We confirmed the effectiveness of the proposed controller by experiments.