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ID 33055
フルテキストURL
Thumnail fulltext.pdf 1.07 MB
著者
Takaiwa, Masahiro Okayama University
Noritsugu, Toshiro Okayama University
抄録

In this study, we aim at developing a mechanical device to support humans rehabilitation motion of their wrist joint instead of or to help a physical therapist. Pneumatic parallel manipulator is introduced as the mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator’s feature of multiple degrees of freedom is suitable for a complex motion of human wrist joint. Impedance control system is introduced to realize several rehabilitation modes. The validity of the proposed system is confirmed through some experiments.

キーワード
Human Wrist joint
Parallel Manipulator
Pneumatic servo system
Rehabilitation
備考
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 18-22 April 2005, Pages 2302-2307.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1570456
Copyright © 2005 IEEE. All rights reserved.
発行日
2005-4
出版物タイトル
Robotics and Automation
開始ページ
2302
終了ページ
2307
資料タイプ
学術雑誌論文
言語
English
査読
有り
Submission Path
mechanical_engineering/15