1A2-F08 神経-筋制御系モデルを導入した足クローヌスの再現と足部痙性シミュレータ(Leg-Robot)による評価実験

概要

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In this project, we have developed virtual haptic simulators that can simulate several kinds of abnormal movements and haptics of the disabled people. In the previous report, we proposed a leg-shaped robot (Leg-Robot) with a Compact MR Fluid Clutch (CMRFC) to establish highly safe human-machine co-existent system, and control methods to realize ankle clonus. In this paper, we report experimental results in which young students of the physical therapy and a matured physical therapist used the Leg-Robot. According to the comparison of these results, we were able to find obvious differences and these facts would verify that this system can quantify the diagnosing techniques for physical therapists. Additionally, we have conducted to introduce a neuromuscular model to control clonus-like movement of the Leg-Robot for education of physiology. In this paper, we describe a trial of reproduction of the ankle clonus by introducing the neuromuscular model in computer simulation.