MG222 下肢運動練習用装具ロボット関節の高減速比駆動装置(MG22 上肢訓練・下肢訓練・リハビリテーション2,あたり前のことを知る)

概要

論文の詳細を見る
A small and light weight motion unit of planetary gear reduction systems (100mm in diameter and 30mm in thickness) is proposed for use as a joint-driving module at the hip, knee and ankle joints of a lower limb robotic brace. This module is laminated by three layer-elements of planetary gear system in sandwich style. Both outside layers have same components sun, planets, and ring gears of planetary gear system. The middle layer is smaller than the outer layer by one tooth in planets and ring gears, lacking the sun gear. Also this sandwich mechanism is accomplishing itself, as an articulate joint not needing any other joint structural parts. If the lower limb brace joints were equipped with this articulate module, the self-stretching and self-walking therapy would be possible in the rehabilitation trainings. Here the motion unit were designed composed and tested its activations aiming to a lower limb's robotic brace on the torque and swinging speed.
社団法人日本機械学会の論文
2007-09-30