Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches(<Special Issue>Advanced Fusion of Functional Fluids Engineering)

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概要

• 論文の詳細を見る

• A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts in a clinical setting. The torque required for knee-joint rehabilitation, which is a function of the rotational angle and the rotational angular velocity of a knee movement, is modeled using a mechanical system composed of typical spring-mass-damper elements. The robot consists of two MR-fluid clutches, two induction motors, and a feedback control system. In the torque experiments, output torque is controlled using the spring and damper coefficients separately. The values of these coefficients are determined experimentally. The experimental results show that the robot would be suitable for training physical therapy students to experience similar torque feelings as needed in a clinical situation.

• 一般社団法人日本機械学会の論文
• 2005-08-15

著者

• Yano Hidenori

  Department Of Physical Therapy Sendai Medical Technology College

• Yano Hidenori

  Department Of Applied Chemistry And Chemical Engineering Kagoshima University

• HAKOGI Hokuto

  Department of Electronics and Information Engineering, Toin University of Yokohama

• OHABA Motoyoshi

  Department of Intelligent and Mechanical Engineering, Toin University of Yokohama

• KURAMOCHI Naimu

  Department of Electronics and Information Engineering, Toin University of Yokohama

• Hakogi Hokuto

  Department Of Electronics And Information Engineering Toin University Of Yokohama

• Ohaba Motoyoshi

  Department Of Control System Engineering Toin University Of Yokohama

• Kuramochi Naimu

  Department Of Electronics And Information Engineering Toin University Of Yokohama

関連論文

• Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches(Advanced Fusion of Functional Fluids Engineering)
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