1P1-E16 面状柔軟アクチュエータとその手首動作支援への応用

概要

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This research aims at development of a novel system to support wrist motion. The system aimed at patients with one-sided paralysis suffered from brain disease and orthopedic patients. In this paper, it is studied that a wearable surface shaped soft actuator, and its control method. The actuator, named WTA-band, is able to output torque more than the need torque of wrist's 2 DOF motion to utmost limit. Its output torque and position is controlled by pneumatic pressure. To control its position, it was developed that a novel mechanical feedback control system, named Wireless Position Feedback Valve. The system can be controlled by wireless signal from a sensor on non-paralytic wrist. Next, Experiments showed that wearable actuator, which is composed of 4 WTA-bands and a supporter, has an ability to support wrist's 2 DOF motion. Furthermore, its effectivity was evaluated by Tokyo Medical and Dental University. Finally, experiments showed that the goal system, which consists of WTA-bands and Wireless Position Feedback Valve, can control wrist angle.
2009-05-25