1P1-E18 療法士養成のための膝関節ロボットの開発 : ワイヤー駆動系の設計と基礎実験

概要

論文の詳細を見る
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension motion but also inner/outer rotation motion, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive motion. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate knee joint troubles and verify the effectiveness by fundamental experiments.
一般社団法人日本機械学会の論文