摘要：In the condition of the insufficient number of PT, the novel wearable rehabilitation devices using a soft pneumatic actuator for the elderly are actively proposed and developed. In the previous study, a wearable wrist rehabilitation device based on a flexible robot arm using three flexible pneumatic cylinders was proposed and tested. In this study, the improvement of the device is carried out so as to use it without limitation of attitude of patient’s arm. The attitude control of the improved device based on the analytical model is also carried out. As a result, it is confirmed that the device can give the motion to patients with any attitude of their arm according to the desired position.
