| ID | 33055 |
| フルテキストURL | |
| 著者 | |
| 抄録 | 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. |
| キーワード | Human Wrist joint
Parallel Manipulator
Pneumatic servo system
Rehabilitation
|
| 備考 | 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. |
| 発行日 | 2005-4
|
| 出版物タイトル |
Robotics and Automation
|
| 開始ページ | 2302
|
| 終了ページ | 2307
|
| 資料タイプ |
学術雑誌論文
|
| 言語 |
英語
|
| 査読 |
有り
|
| DOI | |
| Submission Path | mechanical_engineering/15
|
