Development of robot leg which provided with the bi-articular actuator for training techniques of rehabilitation

Author

Shimizu, S. ; Momose, N. ; Oshima, T. ; Koyanagi, K.

Author_Institution

Toyama Prefectural Univ., Imizu, Japan

fYear

2009

fDate

Sept. 27 2009-Oct. 2 2009

Firstpage

921

Lastpage

926

Abstract

The robot leg for rehabilitation education requires the characteristics of the output force and the stiffness of the human leg to be mimicked correctly. There have been several efforts to mimic the motion characteristic of living organism by taking into account the arrangement of muscles in the mechanism of the robot. The present paper introduces a robot leg with a human-like two-joint link mechanism that is operated with the muscle coordinate system. The force and stiffness characteristics will enable the proposed robot leg to be used as a training robot for rehabilitation education.

Keywords

biomedical education; humanoid robots; patient rehabilitation; training; bi-articular actuator; human-like two-joint link; muscle coordinate system; rehabilitation education; rehabilitation training techniques; robot leg; stiffness; Actuators; Educational robots; Humanoid robots; Humans; Leg; Legged locomotion; Muscles; Organisms; Rehabilitation robotics; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on

Conference_Location

Toyama

ISSN

1944-9445

Print_ISBN

978-1-4244-5081-7

Electronic_ISBN

1944-9445

Type

conf

DOI

10.1109/ROMAN.2009.5326183

Filename

5326183