論文

査読有り
2020年

Development of a tetrahedral-shaped soft robot arm as a wrist rehabilitation device using extension type flexible pneumatic actuators

Journal of Robotics and Mechatronics
  • Wei Hang Tian
  • ,
  • Cian Cheng Jhan
  • ,
  • Misaki Inokuma
  • ,
  • Tetsuya Akagi
  • ,
  • Shujiro Dohta
  • ,
  • So Shimooka

32
5
開始ページ
931
終了ページ
938
記述言語
掲載種別
研究論文(学術雑誌)
DOI
10.20965/jrm.2020.p0931

© 2020, Fuji Technology Press. All rights reserved. Based on aging Japanese society, there has been a strong desire for development of rehabilitation devices that patients can use at home. The purpose of this study is to develop a home-based compact, lightweight, flexible, and safe rehabilitation device. In this study, a flexible robot arm for wrist rehabilitation that can be used, while patients hold the top of the robot arm, is proposed and tested. The proposed robot arm consists of three extension type flexible pneumatic actuators (EFPAs) restrained by 22 PET sheets. To achieve suitable bending stiffness of the robot arm, three EFPAs are restrained so as to form a tetrahedral shape. The robot arm can bend toward each radial direction. In this paper, the construction and operational principles of the tested robot arm are described. Additionally, the analytical model of the robot arm for attitude control is also described. In addition, the tracking control using the robot arm for the desired orbit is performed. As a result, the tested robot arm can trace the desired orbit based on the model. It is confirmed that the robot arm has the possibility for application as a wrist rehabilitation device for patients.

リンク情報
DOI
https://doi.org/10.20965/jrm.2020.p0931
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85093964181&origin=inward
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85093964181&origin=inward
ID情報
  • DOI : 10.20965/jrm.2020.p0931
  • ISSN : 0915-3942
  • eISSN : 1883-8049
  • SCOPUS ID : 85093964181

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