Wrist Rehabilitation Using Pneumatic Parallel Manipulator

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Other Title
  • 空気式パラレルマニピュレータを用いた手首リハビリテーション
  • 空気式パラレルマニピュレータを用いた手首リハビリテーション : 筋電位信号に基づく訓練動作の提案
  • クウキシキ パラレルマニピュレータ オ モチイタ テクビ リハビリテーション : キン デンイ シンゴウ ニ モトズク クンレン ドウサ ノ テイアン
  • ～ Proposal of Rehabilitation Based on EMG Signal ～
  • ～筋電位信号に基づく訓練動作の提案～

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Description

In this study, we focus on a rehabilitation motion of human wrist joint and aim at supporting these rehabilitation training by introducing a mechanical system like a robot. A pneumatic parallel manipulator is introduced since it can drive enough D.O.F to correspond to a wrist motion and has inherent compliance characteristics resulted from air compressibility. We propose a new training method for a muscle strengthening training based on electromyography (EMG), where a pay-load is set between joint angle and the muscle we want to train directly. In addition, we propose a method to detect muscle fatigue based on a frequency analysis of EMG. The effectiveness of the proposed method is confirmed through some experiments.

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