Abstract
A rehabilitation instrument for prevent contracture of ankle is proposed. The purpose of this instrument is making carrying and installation at the time of use easy in the place like the medical institution. It consists of a actuator, power transfer mechanism and ankle foot orthosis. A tendon driven system using a pneumatic balloon was adopted as actuator of this instrument. The system is compact and high power. Furthermore, it is very lightweight by composition material and structure. Characteristics of the tendon driven system using a pneumatic balloon, composition and operation method of rehabilitation instrument for prevent contracture of ankle is presented.
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