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ID 33055
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Abstract

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.

Keywords
Human Wrist joint
Parallel Manipulator
Pneumatic servo system
Rehabilitation
Note
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 18-22 April 2005, Pages 2302-2307.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1570456
Copyright © 2005 IEEE. All rights reserved.
Published Date
2005-4
Publication Title
Robotics and Automation
Start Page
2302
End Page
2307
Content Type
Journal Article
language
英語
Refereed
True
Submission Path
mechanical_engineering/15