書誌事項
- タイトル別名
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- Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator-Realization of Multiple D.O.F. Rehabilitaiton Motion-
- クウキシキ パラレルマニピュレータ オ モチイタ テクビブ リハビリ シエン ソウチ ノ カイハツ タジユウド リハビリ ドウサ ノ ジツゲン
- —Realization of Multiple D.O.F. Rehabilitaiton Motion—
- ―多自由度リハビリ動作の実現―
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抄録
In this study, we focused on a rehabilitation motion of human wrist joint and aim at developing a mechanical equipment to support these rehabilitation motion. A pneumatic parallel manipulator is introduced since it can drive multiple D.O.F. enough to correspond to a wrist motion and has inherent compliance characteristics resulted from air compressibility works as safety mechanism and minute force regulating function. An impedance control strategy is applied on the manipulator to implement rehabilitation motion by adjusting impedance parameters appropriately. The validities of the proposed multiple D.O.F. rehabilitation system for the several rehabilitation motion are confirmed through experiments.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 24 (6), 747-753, 2006
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679702497280
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- NII論文ID
- 10018207611
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 8067857
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可