Title :
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
fDate :
Sept. 27 2009-Oct. 2 2009
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;
Conference_Titel :
Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on
Conference_Location :
Toyama
Print_ISBN :
978-1-4244-5081-7
Electronic_ISBN :
1944-9445
DOI :
10.1109/ROMAN.2009.5326183
