Exoskeleton type robot and rehabilitation device

摘要

PROBLEM TO BE SOLVED: To provide an external skeleton robot and a rehabilitation device using the same capable of supporting movement of musculoskeletal system for BMI rehabilitation.SOLUTION: In a rehabilitation device, active joints forming an external skeleton robot 1 have a static hybrid actuator respectively. An arithmetic device 208 decodes user's brain activity based on a signal measured by a brain cap 14. In the static hybrid actuator, an air pressure type air muscle and a wire for transmitting driving force of the air muscle to the joints are included. A control part 134 controls pressure applied to the air muscle and torque generated by an electronic motor for generating driving force to the electronic motor and the air muscle so as to changeover degree of gravity compensation by the active joints according to the decoded brain activity.