装着型パラレルリンク機構を用いた肘関節動作計測装置の開発

摘要

In order to develop wearable motion support equipment for the elbow, the three-dimensional motion of the elbow joint needs to be measured. This paper proposes a method for measuring the elbow motion using parallel links. The proposed method is noninvasive and simple and employs linear encoders. This method enables measurement of the position and posture of the forearm, including the valgus angle, in real time. This method was used to conduct measurement experiments of the elbow motion, and the obtained results were compared with previous results obtained by X-ray radiography and anatomy. The validity of the proposed method was confirmed.