Development of Rehabilitation Support Robot with Guidance Control Based on Biarticular Muscle Mechanism

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2014/07/01

タイトル(英語): Development of Rehabilitation Support Robot with Guidance Control Based on Biarticular Muscle Mechanism

著者名: Toshiaki Tsuji (Saitama University/JST PRESTO), Tomonori Yokoo (Saitama University), Yuri Hasegawa (Ushioda General Hospital), Keiichiro Abe (Ushioda General Hospital), Yoshimi Sakurai (Shonan Fureai Gakuen), Shinichiro Ishii (Kanagawa University of Human

著者名(英語): Toshiaki Tsuji (Saitama University/JST PRESTO), Tomonori Yokoo (Saitama University), Yuri Hasegawa (Ushioda General Hospital), Keiichiro Abe (Ushioda General Hospital), Yoshimi Sakurai (Shonan Fureai Gakuen), Shinichiro Ishii (Kanagawa University of Human Services)

キーワード: rehabilitation robot，biomechanics，motion control，musculoskeletal system

要約(英語): This study presents the guidance control provided by a rehabilitation support robot that is intended to assist with the movement of a patient's arm. The guidance control is accomplished using a stiffness ellipse. The characteristic that the direction of force acted upon changes depending on the settings of the stiffness ellipse is used for guiding the movement. The system developed in this study adjusts the stiffness ellipse by using a musculoskeletal manipulator with biarticular mechanism. It was verified that the movement of a subject could be guided by changing the stiffness ellipse and assisting the movement. The experimental results demonstrate that it is possible to guide the movement without any dependency on the control bandwidth of the actuator.

本誌: IEEJ Journal of Industry Applications Vol.3 No.4 （2014） Special Issue on Power Electronics

本誌掲載ページ: 350-357 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/4/3_350/_article/-char/ja/