Development of Wearable Wrist Rehabilitation Device Using Flexible Pneumatic Cylinders

摘要

Recently, the rehabilitation device using a soft pneumatic actuator for disabled are actively researched and developed because of the insufficient number of PT. In the previous study, the wrist rehabilitation device using flexible robot arm that consisted of three flexible pneumatic cylinders was proposed and tested. In this study, the wearable wrist rehabilitation device is proposed and tested. The attitude control based on the analytical model of the devise is also carried out. As a result, it is confirmed that the device can trace the desired position in the condition when a human wears the device.