小型外骨格型アシスト機構を用いた麻痺手補助装置の開発

-カムを用いた環指・小指内外転動作補助機構の検討-

抄録

In this paper, we propose an adduction and abduction assist device using a cam mechanism for ring and little fingers and evaluate the performance of it. In the design, the torque required to rotate the cam is minimized by positioning the center of rotation of the cam optimally. We designed and manufactured the prototype of the mechanism. It was confirmed that the cam can drive the followers attached to the ring and little fingers as desired. Experiments of the prototype attached to the hand suggested that the mechanism was able to achieve adduction and abduction assistance for the ring and little fingers despite the mechanism slide slightly on the hand.