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.
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