膝関節用他動運動訓練機による自動運動機能の実現

抄録

In this study, an active exercise function was added to a continuous passive motion device, which is widely used in rehabilitation therapy for function enhancement. Impedance control based on position control was applied to provide active exercise load. Conventional impedance control has utilized spring-mass-damper model. However, various active exercise loads are required to reproduce daily life muscle activity. Accordingly, a friction load model was introduced in the impedance control system. The effects were evaluated by analysis of muscle activity during experimental tests, and a new muscle activity that could not be attained by the conventional spring-mass-damper load model was confirmed.