Abstract
In the condition of the insufficient number of PT, the novel wearable rehabilitation devices using a soft pneumatic actuator for the elderly are actively proposed and developed. In the previous study, a wearable wrist rehabilitation device based on a flexible robot arm using three flexible pneumatic cylinders was proposed and tested. In this study, the improvement of the device is carried out so as to use it without limitation of attitude of patient’s arm. The attitude control of the improved device based on the analytical model is also carried out. As a result, it is confirmed that the device can give the motion to patients with any attitude of their arm according to the desired position.
Highlights
According to aging society and decreasing birth rate[1], lack of welfare workers and physical therapists (“PT” for short) becomes serious concern
The wrist rehabilitation device using flexible robot arm that consisted of three flexible pneumatic cylinders was proposed and tested
The attitude control based on the analytical model of the devise is carried out
Summary
According to aging society and decreasing birth rate[1], lack of welfare workers and physical therapists (“PT” for short) becomes serious concern. The wrist rehabilitation device using flexible robot arm that consists of three flexible pneumatic cylinders[6] was proposed and tested. The attitude control of the robot arm while the hand is being put on the robot arm was carried out[7]. The robot arm with simple back drivability was developed[8]. In both cases, the hands of patients must be put on the robot on the table. A wearable wrist rehabilitation device using improved flexible robot arm that can attach with human hand and arm. The attitude control of the device while wearing on human arm is carried out
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