20604 足首関節リハビリ装置の開発と検証(医療福祉のメカトロニクス(1),OS.6 医療福祉のメカトロニクス,学術講演)

概要

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We are designing a rehabilitation device for the ankle joint motion. In order to ease rehabilitation and training exercise, the motions must be soft yet repetitive. We adopted McKibben type pneumatic actuators in order to drive softly gimbal mechanism for two dimensional motion for ankle joint. Users put their soles onto the gimbal mechanism. In the passive mode, users just let ankle move according the motion of the mechanism for a consecutive period of time, which helps widen the motion range of ankles for the rehabilitation. And in the active mode, users can exert ankle torque against the motion of the mechanism, which helps to train the muscle force. By using the goniometers and EMG sensors, we measured the ankle motion and leg muscle activation, and evaluated the usage of the rehabilitation device.
社団法人日本機械学会の論文
2008-03-13