脳卒中上肢リハビリのための骨盤運動バイラテラルロボット装具の開発

抄録

The retrieving of pelvis motion have been one of the principal tasks in a therapeutic menu before moving to the other functional tasks. The pelvis motor orthosis was controlled by therapists with control wheel and by the motion of the other pelvis orthosis. Each device was connected the other by bilateral master-slave control (or multi-lateral control within control wheel and two pelvis motor orthosis). The bilateral master-slave robotic orthosis system was successfully developed in the current state. The motions and forces between master and slave device were visualized by the control system, which would be available for quantification of the rehabilitation and also useful as a teaching tool. The facilitation technique by therapist will be captured and visualized by the robotic orthosis. In this report, the visualizations of the force and motion are presented, and the potential of the system is discussed.