Authors:
Taku Itami
1
;
Toshihito Yabunaka
1
;
Ken’ichi Yano
1
;
Yasuyuki Kobayashi
2
;
Takaaki Aoki
3
and
Yutaka Nishimoto
4
Affiliations:
1
Mie University, Japan
;
2
LUMINOUS JAPAN CO. and LTD., Japan
;
3
Gifu University Hospital, Japan
;
4
Gifu University School of Medicine, Japan
Keyword(s):
Exoskeleton, Rehabilitation, Operating Analysis, Electromyographic(EMG) Signals.
Related
Ontology
Subjects/Areas/Topics:
Biological Inspired Sensors
;
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Nowadays, it has been actively expanded to develop assist robots attached directly. In this study, we focused
on developing an exoskeletal robot, specifically, a force transmission robot with a rotary drive type ratchet
mechanism, to enable users with upper limb disability to make use of their residual function to achieve better
function of their upper limbs. A lock/unlock mechanism on the elbow joint is effectively used to transmit the
user’s residual function around the shoulder to the hand. We conducted verification experiments on whether the
developed mechanism enables the user to transfer the remaining force in the shoulder joint to operation force
in the hand. Three subjects with C5 and C6 spinal cord injury with disabilities affecting their hands, lower
limbs, and trunk muscles performed the verification experiment with the developed device. We confirmed that
they could operate a wheelchair on a slope and on grass when using the developed device, and they could use
their resid
ual function around the shoulder more strongly. It can be expected to rehabilitation effect.
(More)