| 摘要 |
PURPOSE:To make allowances for force applied to the limbs by arranging a means to reproduce instructed motion and force preserved in a memory by considering reaction applied to a device from a patient. CONSTITUTION:When being performed on a device using a finger joint as the object, a base shaft of the device is installed at the root of a joint being the purpose of treatment, and the tip of the device is installed in a tip part close to a joint being the purpose. A three-freedom degree force sensor 504 to measure force acting from a patient finger is arranged on the tip of a mechanism part where motors 501 to 503 are arranged so as to be continuously rotatable. A motional locus is sampled with every constant time at orbit instructing time, and is stored in a memory while being converted into coordinates. After a spring constant of impedance is set in a value according to a pain or treatment progress of a patient at treatment time, motion is controlled by using stored locus data as a movement of a spring constant balanced point of impedance control. |
