書誌事項
- タイトル別名
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- Development of Wrist Rehabilitation Equipment using Pneumatic Parallel Manipulator-Acquiring Training Motion of P.T. and Multiple D.O.F. Measurement of Wrist Property-
- 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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抄録
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.
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 25 (8), 1251-1258, 2007
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
- 1390001204726234112
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- NII論文ID
- 10019787628
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 9273395
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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