Wrist rehabilitaion equipment using pneumatic parallel manipulator

In this study, we aim at developing a mechanical device to support human rehabilitation motion of their wrist joint instead of a physiotherapist. Pneumatic parallel manipulator is introduced as a mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator´s feature of multiple degrees of freedom is suitable for the complex motion of human wrist joint. To cope with the shortage of physiotherapist, we propose a method to acquire P.T.´s rehabilitation motion and implement it for a patient using the equipment. The validity of the proposed system is conrmed through some experiments.