1P1-E18 外骨格型上肢作業支援システムの研究開発 : 上肢麻痺患者の足操作による卓上作業支援の実現

概要

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This paper introduces an exoskeleton assistive system for an upper limb of a person who has trouble in motor capability of his/her upper limb due to a stroke, a muscular dystrophy, a brachial plexus injury, and so on. This assistive system is developed to especially support eating motion of a patient who cannot lift his/her upper limb weight due to his/her muscle weakness. The assistive system could be used not only for an assistive system to use his/her upper limb for activities of daily living(ADL) but also for a rehabilitation system to reduce manual loads of physical therapists. The system assists three kinds of motions; angles of shoulder joints, and angle of an elbow joint and then three DC motors drive each joint through wires. A position of a patient hand is controlled by a foot controller that measures six motions of a patient's foot: plantar flexion/dorsiflexion, inversion/eversion, adduction/abduction. A patient who has paralysis on his/her hand can take a simple task in ADL by controlling his/her foot. Through experiments, we confirm that the assistive system helps a wearer eating by moving a paralyzed arm from a dish or a bottle to his/her mouth.
一般社団法人日本機械学会の論文
2009-05-25