Based on the number of elderly in Japan and the decline in birth rates, the rehabilitation device that can be used at home has been desired. In such applications, a soft actuator that can move with longer strokes and produce greater force is useful for rehabilitation devices. Therefore, the flexible linear stepping actuators that can push and pull the flexible rod with a long stroke by changing the gripping position of the rod have been developed. The tested actuators can realize position controls without using any sensors. In this paper, the development of a portable continuous passive motion (CPM) device for human knee using two flexible linear stepping actuators is described. The construction and the operating principle of the CPM device will also be explained. As a result, it can be confirmed that the tested device can provide a stepping angular change to the knee. The tested device is safer for users as it has the back drivability while there is no supply pressure.
Research papers (academic journals)
