空気圧人工筋肉を用いた足関節リハビリ機械の動作時のコンプライアンス性能の検討

抄録

Recently, home medical care has been promoted, and the development of a machine that facilitates ankle range of motion training is desired. Therefore, in this study, we are developing an ankle joint rehabilitation machine using rubber less-artificial muscles. It is desirable that the machine that performs ankle range of motion training can adjust the torque applied to the ankle joint and the flexibility of the system. By using compliance control in the developed rehabilitation machine, we realized a soft operation using the characteristics of the spring. In this paper, we examine the compliance performance of ankle joint rehabilitation machines using rubber-less artificial muscles during rehabilitation.