Development of Rehabilitation System for the Upper Limbs in a NEDO Project: 2nd report: Safety Mechanism Using ER Actuators

摘要

Motions of upper limbs are indispensable in daily life. The authors have involved in a project managed by NEDO, Rehabilitation System for the Upper Limbs and Lower Limbs, and developed a 3-DOF upper limb support machine for a rehabilitation training system. In this paper, the authors report on development of the mechanism of the support machine which can be use as a motion guide robot or a force display device. Particularly, mechanical structure safety kept by actuators using ER fluid is noted.