Development of High Functional Wrist Rehabilitation Device Using Pneumatic Parallel Manipulator

我们开发了一种使用气动并联机械臂的手腕康复装置。一般来说，手腕康复是通过在手腕扭矩和手腕关节角度/角速度之间设置有效载荷来实现的。在这项研究中，我们提出了一种肌电传感器检测肌肉力量和关节角度/角速度之间有效载荷的康复方法。利用所提出的方法，我们可以有选择地、有意识地训练肌肉。肌电信号也可作为疲劳指标。通过实验验证了该方法的有效性。

We developed a wrist rehabilitation device using a pneumatic parallel manipulator. In generally, wrist rehabilitation is implemented by setting a payload between wrist torque and wrist joint angle/angular velocity. In this study, we proposed a rehabilitation with payload between muscle force detected by EMG sensor and joint angle/angular velocity. Using the proposed method, we can train the muscle selectively and intentionally. EMG signal can be also used as an index of fatigue. The validities of the proposed method are confirmed through some experiments.