A Study of a Multi-dof Leg Rehabilitation System – Flexion/Extension Mechanism for hip and knee joint –

摘要

This paper describes a study of a multi-dof leg rehabilitation system. The aim of the study is to develop a leg rehabilitation system, in order to offer the opportunity of rehabilitation to the elderly people at home. A characteristics of our proposed system is to use wire parallel mechanism. In this paper, design and development of an experimental system with 2-dof motion is reported. Target motion of the system is flexion/extension of hip and knee joints. Some features of the experimental system are based on physical therapist's motion. Preliminary experiments showed some problems of the experimental system.