2P1-E02 せん断型コンパクトMR流体ブレーキを用いたインテリジェント下肢装具 : 制御系の再検討および軽量化のための新規ブレーキの開発(医療・福祉ロボティクス・メカトロニクス)

概要

論文の詳細を見る
MR fluid (Magneto-Rheological fluid) is a kind of functional fluid. Until now, we have developed Shear-type Compact MR Brake (SCMR-Brake) applying shear mode of MR brake. To employ multi-layered and minute-gap structure, we have developed SCMR-Brakes. By using this brake on the part of ankle torque control unit, we have developed Controllable Ankle-Foot Orthosis, and controlled the ankle according to walking phases. But our developed SCMR-Brake was heavy and slow response time as problem. In this study, we developed more light and compact SCMR-Brake. Furthermore, we had a review of control system to control brake torque for early stance phase.
一般社団法人日本機械学会の論文
2008-06-06