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Accession number;05A0961253
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| Title;Research and Development of 6-DOF Rehabilitation Robot for Upper Limbs including Wrists |
| Author;
FURUSHO JUNJI
(Osaka Univ.)
YAMAGUCHI YUHEI
(Osaka Univ.)
LI CHENGQIU
(Osaka Univ.)
KIMURA SHIN'YA
(Osaka Univ.)
NAKAYAMA KENJI
(Osaka Univ.)
KATSURAGI TAKAYA
(Osaka Univ.)
KAWAMOTO AKIHIRO
(Osaka Univ.)
OGURI TAKAMICHI
(Osaka Univ.)
RYU USHIO
(Asahikaseienjiniaringu)
INOUE AKIO
(Ertekku)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.ALL-N-002(2005)
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| Figure&Table&Reference;FIG.27, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;Robot and virtual reality techniques are being increasingly used by medical institutions today. We have developed a rehabilitation robot equipped with 6-DOF (3-DOF: position, 3-DOF: rotation). It can be used for upper limb rehabilitation and also for wrist rotation. As this is an active system, safety is the most important point. A high level of safety is ensured by the use of ER actuators. In order to reduce the inertia of the end effector, motors and clutches are set on the basic axis. Drive systems are links, universal joints and wire systems. As this system has 6-DOF, the mechanism of its drive system is very complicated and this system has interference in its rotation parts. Basic experiment with this robot suggests that it is a good system for rehabilitation of the upper limbs. (author abst.) |
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