Study on a CPM Device for Rehabilitation with Variable Stiffiness Mechanism

Hayashibara, Yasuo; Hakogi, H.; Watanabe, K

doi:10.1299/jsmermd.2004.10_1

Robomech

2004

DOI: 10.1299/jsmermd.2004.10_1

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Study on a CPM Device for Rehabilitation with Variable Stiffiness Mechanism

Yasuo Hayashibara

H. Hakogi

K Watanabe³

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Study on a Variable Stiffness Mechanism Using Wire Spring

Hayashibara¹

2008

J. Robot. Mechatron.

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In this paper, we propose a variable stiffness mechanism using wire springs. We have proposed such kind of mechanism using nonlinear coil springs. We intend to apply it to continuous passive motion (CPM) machine. It can change the spring characteristic continuously. Its disadvantages are need for wide space and powerful motor to change stiffness. And, it is difficult to design such nonlinear spring. To solve these problems, we propose a mechanism with wire springs. It is easy to obtain the wire spring, because it is material of coil spring. We explain how the design and evaluate it in experiments.

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Study on a Variable Stiffness Mechanism Using Wire Spring

Hayashibara¹

2008

J. Robot. Mechatron.

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Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise

Tagami¹,

Hasegawa²,

TANAHARA³

et al. 2022

JRM

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In this study, an active exercise function was added to a continuous passive motion device, which is widely used in rehabilitation therapy for function enhancement. The objective is to reduce physical overwork on the part of physical therapists and promote self-rehabilitation in patients. Impedance control based on position control was applied to provide active exercise load. Various active exercise loads are required to reproduce daily life muscle activity. Accordingly, a friction load model was introduced in the impedance control system. The effects of increasing the types of active exercise loads were evaluated by analysis of muscle activity during experimental tests, and a new muscle activity that could not be attained by the conventional spring-mass-damper load model was confirmed.

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Study on a CPM Device for Rehabilitation with Variable Stiffiness Mechanism

Cited by 2 publications

References 0 publications

Study on a Variable Stiffness Mechanism Using Wire Spring

Study on a Variable Stiffness Mechanism Using Wire Spring

Prototype of a Continuous Passive Motion Device for the Knee Joint with a Function of Active Exercise

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