2A1-B22 外骨格型手作業支援システム(ウェアラブルロボティクス)

概要

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This paper introduces a new wearable handring support system for a person who has trouble in motor capability of their upper limb.The support system is used not only for a support system to make their upper limb active in daily life but also for a rehabilitation system to reduce manual loads of physical therapists.The system measures three rotation angles of patient's head: pitch, roll and yaw to control three degrees of freedom of the support system; angle of elbow joint, angle of wrist joint and hand close/open, respectively. Hemiplegia patient who has paralysis on one half of the patient body can use both arms cooperatively by wearing the handling support system on the paralysis side. In our experiments, the system helps pouring task from POP bottle to a glass, while an upper limb on paralysis side of a user grasps the POP bottle and the other upper limb grasps the glass.
一般社団法人日本機械学会の論文
2008-06-06