Development of Wrist Rehabilitation Equipment using Pneumatic Parallel Manipulator-Acquiring Training Motion of P.T. and Multiple D.O.F. Measurement of Wrist Property-
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- Takaiwa Masahiro
- The Graduate School of Natural Science and Technology, Okayama University
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- Noritsugu Toshiro
- The Graduate School of Natural Science and Technology, Okayama University
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- Masago Yoji
- The Graduate School of Natural Science and Technology, Okayama University
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- Sasaki Daisuke
- The Graduate School of Natural Science and Technology, Okayama University
Bibliographic Information
- Other Title
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- 空気式パラレルマニピュレータを用いた手首部リハビリ支援装置の開発―療法士の徒手訓練動作の獲得と手首特性の多自由度計測―
- 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 リョウホウシ ノ トシュ クンレン ドウサ ノ カクトク ト テクビ トクセイ ノ タジユウド ケイソク
- -Acquiring Training Motion of P.T and Multile D.O.F. Measurement of Wrist Property-
- ―療法士の徒手訓練動作の獲得と手首特性の多自由度計測―
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Abstract
In this study, we focus on a rehabilitation motion of human wrist joint and aim at supporting these rehabilitation trainings by introducing a mechanical system like a robot. A pneumatic parallel manipulator is introduced since it can drive enough D.O.F. to correspond to a wrist motion and has inherent compliance characteristics resulted from air compressibility. We propose a strategy where an equipent acquires the P.T.'s rehabilitation motion in order patient to receive rehabilitation motion through the equipment as if they are trained by P.T. Then we derive a method to estimate wrist impedance in multiple D.O.F. and display the wrist mechanical property in a real-time graphical manner. The effectiveness of the proposed rehabilitation strategy is veryfied through some experiments.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 25 (8), 1251-1258, 2007
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390001204726234112
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- NII Article ID
- 10019787628
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 9273395
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed