冗長個数のER流体ブレーキを用いた2次元上肢リハビリ支援装置に関する基礎研究（第1報，力覚提示能力に関する解析）

摘要

ブレーキのみを用いた上肢リハビリ支援装置は高いrn安全性を有するため，特別の管理無く家庭や労健施設rnでも使用可能である．本稿では，リハビリにおける抵rn抗誘導訓練等に有効な冗長個数のブレーキの導入につrnいて理論的な解析を行った．%Rehabilitation for upper limbs is important for elderly people, people who have suffered a stroke and so on. In recent years, the needs for rehabilitation support systems are increasing, which use force display system. Especially, the application of a passive-type force display system is desirable for its high safety. However, there are some directions and link positions for which it is difficult to display the force in a passive-type force display system using only passive elements. To solve this problem, a method for improvement of controllability using redundant brakes had been suggested. This method made it possible to display various force directions and various postures of virtual objects. In this paper, we research about force display ability of passive-type system with redundant brakes.