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Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator

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2 Author(s)
Takaiwa, M. ; Department of Systems Engineering Okayama University 3-1-1 Tsushimanaka Okayama, 700-8530 Japan takaiwa@sys.okayama-u.ac.jp ; Noritsugu, T.

In this study, we aim at developing a mechanical device to support humans rehabilitation motion of their wrist joint instead of or to help a physical therapist. Pneumatic parallel manipulator is introduced as the mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator’s feature of multiple degrees of freedom is suitable for a complex motion of human wrist joint. Impedance control system is introduced to realize several rehabilitation modes. The validity of the proposed system is confirmed through some experiments.

Published in:

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Date of Conference:

18-22 April 2005