2010 Fiscal Year Final Research Report
Development of High Functional Wrist Rehabilitation Device Using Pneumatic Parallel Manipulator
| Project/Area Number |
20560239
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Okayama University |
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Principal Investigator |
TAKAIWA Masahiro Okayama University, 大学院・自然科学研究科, 准教授 (60243490)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 手首リハビリテーション / ロボット / 表面筋電位 / 空気圧駆動システム |
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| Research Abstract |
We developed a wrist rehabilitation device using a pneumatic parallel manipulator. In generally, wrist rehabilitation is implemented by setting a payload between wrist torque and wrist joint angle/angular velocity. In this study, we proposed a rehabilitation with payload between muscle force detected by EMG sensor and joint angle/angular velocity. Using the proposed method, we can train the muscle selectively and intentionally. EMG signal can be also used as an index of fatigue. The validities of the proposed method are confirmed through some experiments.
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