start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=259
end-page=267
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=199712
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Application of rubber artificial muscle manipulator as a rehabilitation robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The application of a robot to rehabilitation has become a matter of great concern. This paper deals with functional recovery therapy, one important aspect of physical rehabilitation. Single-joint therapy machines have already been achieved. However, for more efficient therapy, multjoint robots are necessary to achieve more realistic motion patterns. This kind of robot must have a high level of safety for humans. A pneumatic actuator may be available for such a robot, because of the compliance of compressed air. A pneumatic rubber artificial muscle manipulator has been applied to construct a therapy robot with two degrees of freedom (DOF). Also, an impedance control strategy is employed to realize various motion modes for the physical therapy modes. Further, for efficient rehabilitation, it is desirable to comprehend the physical condition of the patient. Thus, the mechanical impedance of the human arm is used as an objective evaluation of recovery, and an estimation method is proposed. Experiments show the suitability of the proposed rehabilitation robot system </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TanakaToshihiro
en-aut-sei=Tanaka
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=actuators
kn-keyword=actuators
en-keyword=biomedical equipment
kn-keyword=biomedical equipment
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=patient treatment
kn-keyword=patient treatment
en-keyword=pneumatic control
kn-keyword=pneumatic control
en-keyword=equipment
kn-keyword=equipment
en-keyword=safety
kn-keyword=safety
END