| ID | 33055 |
| FullText URL | |
| Author |
Takaiwa, Masahiro
Kaken ID
researchmap
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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 |
English
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| Refereed |
True
|
| DOI | |
| Submission Path | mechanical_engineering/15
|
