Leg-Robot with MR Clutch to Realize Virtual Spastic Movements
Leg-Robot with MR Clutch to Realize Virtual Spastic Movements
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DOI：
10.1177/1045389x10367838
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发表时间：
2010-10-01
影响因子：
2.7
通讯作者：
Furusho, Junji
中科院分区：
文献类型：
--
作者：
Kikuchi, Takehito;Oda, Kunihiko;Furusho, Junji
在这项研究中，我们提出了一个腿形机器人（腿机器人）与磁流变液离合器（MRFC），以展示脑损伤患者的痉挛运动的虚拟触觉。安装在该系统中的MRFC使其比传统的直接驱动机器人更安全。同时，MRFC还提高了触觉的质量，以模仿人类的反应。该系统有助于学员学习物理治疗诊断方法。本文介绍了腿式机器人的基本结构和工作原理。然后，控制方法和三种类型的痉挛运动的实验结果进行了描述。
In this study, we propose a leg-shaped robot (Leg-Robot) with a magnetorheological fluid clutch (MRFC) to demonstrate virtual haptic of spastic movements of brain-injured patients. The MRFC installed in this system makes it safer than conventional direct-driven robots. At the same time, the MRFC also improves quality of haptic to mimic the human-like reactions. This system is useful to learn diagnosis methods of physical therapy for its trainees. In this article, basic structure and mechanism of the Leg-Robot are explained. Then, control methods and experimental results of three types of spastic movements are described.