Development of Mechanism for Master-Slave Wearable Training Device

本研究开发了一种可穿戴的主从式上肢训练装置。所研制的装置具有与人体上肢相同的7个测角。此外，还介绍了主从控制方法。从主从控制下的实验结果证实，使用该装置的被试可以跟随训练者的动作。因此，该装置可以独立和合作地训练所有上肢关节。

The wearable master-slave upper limb training device has been developed in this study. Developed device has 7 D.O.F which are the same D.O.F of human upper limb. In addition, the master-slave control method has been introduced. It is confirmed from the result under the master-slave control that a subject who uses this device can follow a trainer movement. Therefore, this device may be possible to train all upper limb joints independently and cooperatively.