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- Material Type
- 文書・図像類
- Author/Editor
- 余, 永
- Author Heading
- Publication, Distribution, etc.
- Alternative Title
- Development and Clinical Application of Hemiplegic-Finger's Functional Recovery Training Device for Facilitating Voluntary Figure Movements with Objective-Exercise-Inducing
- Text Language Code
- jpn
- Target Audience
- 一般
- Note (General)
- 2008-2010年度科学研究費補助金(基盤研究(C))研究成果報告書 課題番号：20500454 研究代表者：余永(鹿児島大学大学院理工学研究科准教授)脳の可塑性を発現し得る効果的なリハビリテーション法として“促通反復療法”（川平法）と呼ばれる方法がある。この方法では訓練において人間の伸張反射を誘発し，随意運動を引き起こすことで促通効果を高め患者の意図した運動を実現している。本研究では，促通反復療法を再現する装置としてパラレルリンク機構を用いた装置の提案を行った．また，訓練中の指自動伸展を促すための抵抗付随型協動制御という制御手法を提案した．そして，訓練試験では繊細な力・運動制御が行え，医師・療法士による訓練とほぼ同様の訓練を再現していることが実証された．As a rehabilitation therapy for Hemiplegic limbs and fingers, Facilitation Repeated Exercise Therapy (Kawahira Therapy) is an effective technique. By inducing stretch reflex, the approach can realize and facilitate intended voluntary movements of limb or finger. This paper reports a functional recovery training device with hemiplegic parallel mechanism for hemiplegic fingers, to facilitate voluntary figure movements with objective-exercise-inducing. The motion system, sensing system and control system about the device are discussed in this paper. The performances of the device are shown by some experiments.