Wrist Rehabilitation Device Using Pneumatic Parallel Manipulator Based on EMG Signal
Masahiro Takaiwa, Toshiro Noritsugu, Norimichi Ito,
and Daisuke Sasaki
The Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kitaku, Okayama 700-8530, Japan
In this study, we focus on a rehabilitation motion of human wrist joint and aim at supporting these rehabilitation training by introducing a mechanical system. A pneumatic parallel manipulator is introduced since it can drive enough D.O.F to correspond to a wrist motion and has inherent compliance characteristics resulted from air compressibility. We propose a new training method for a muscle strengthening training based on ElectroMyoGraphy (EMG), where a payload is set between joint angle and the muscle we want to train directly. In addition, we propose a method to detect muscle fatigue based on a frequency analysis of EMG. The effectiveness of the proposed method is confirmed through some experiments.
and Daisuke Sasaki, “Wrist Rehabilitation Device Using Pneumatic Parallel Manipulator Based on EMG Signal,” Int. J. Automation Technol., Vol.5, No.4, pp. 472-477, 2011.
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