遠隔動力配置可能な上肢リハビリテーションロボットに関する研究

抄録

In recent years, research and development of rehabilitation robots for hemiplegia, one of the sequelae of stroke, are being actively conducted. The specifications required of this robot include its small size and light weight so as not to hinder the movement of the user during rehabilitation. In this study, we propose a remote power transmission mechanism for an upper limb rehabilitation robot. The mechanism consists of two sets of sheath, wire and pulley, and a drive unit that is compact and lightweight. The proposed method was able to transmit power effectively and showed the sufficient control characteristics.