Ankle Rehabilitation Device to Prevent Contracture Using a Pneumatic Balloon Actuator

摘要

Our proposed rehabilitation device to prevent contrac ture of the ankle is easy to produce, transport, and in stall at the time of use in places such as medical in stitutions. This device is intended for use by hemi plegic people. The ankle is moved when it is worn, preventing ankle contracture. It consists of a new tendon-drive system using a pneumatic balloon actu ator, power transfer mechanism, and ankle foot or thosis. This new tendon drive system using a pneu matic balloon was developed as an actuator of this de vice. The system consists of a tendon and a silicone tube. Both ends of the tube are closed. The tube ex pands with the supplied air, which distends the sili cone tube and thereby pulls the tendon. This simple system is both compact and powerful. Furthermore, its materials and structure make it light. This paper describes characteristics of this tendon drive system using a pneumatic balloon, along with its composition and operation as a rehabilitation device for preventing ankle contracture. Results of operation tests using the device are also presented.