Development of wrist rehabilitation equipment using pneumatic parallel manipulator -Acquisition of P.T.'s motion and its execution for patient-
Development of wrist rehabilitation equipment using pneumatic parallel manipulator -Acquisition of P.T.'s motion and its execution for patient-
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DOI：
10.1109/robot.2005.1570456
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发表时间：
2005-04
期刊：
影响因子：
--
通讯作者：
M. Takaiwa;T. Noritsugu
中科院分区：
文献类型：
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作者：
M. Takaiwa;T. Noritsugu
在这项研究中，我们的目的是开发一种机械装置，以支持人类的手腕关节，而不是物理治疗师的康复运动。从气动执行器由于空气的可压缩性而具有微小的力控制特性和并联机器人多自由度的特点适合于人体腕关节的复杂运动的角度出发，介绍了气动并联机器人作为一种机械设备。为了科普物理治疗师短缺的问题，我们提出了一种获取物理治疗师的方法。的康复运动，并为使用该设备的患者实施该康复运动。通过实验验证了该系统的有效性。
In this study, we aim at developing a mechanical device to support human rehabilitation motion of their wrist joint instead of a physiotherapist. Pneumatic parallel manipulator is introduced as a 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 the complex motion of human wrist joint. To cope with the shortage of physiotherapist, we propose a method to acquire P.T.'s rehabilitation motion and implement it for a patient using the equipment. The validity of the proposed system is confirmed through some experiments.