Development of Rehabiritation Systems Using MR Fluid

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A rehabilitation system for upper limbs which has large working area can be regarded as a kind of robots. In such human-coexistent robots, it is necessary that operators can use the robots safely. However, since International Safety and Domestic Standards for human-coexistent robots have not been established yet, we have no other choice but to use the ISO standards for machines working close to human beingsIn this study, we developed rehabilitation systems using functional fluids which can assure these standardsThe obtained results are as follows :(1)For the purpose 'of constructing the good mechanism for rehabilitation systems, we studied kinematic evaluation of link-systems and belt-drive systems with good back-drivability(2)Three types of MR actuators were developed as-in the following(a)MR actuator using steel in magnetic circuit(b)MR actuator using silicon steel in magnetic circuit(c)MR actuator using multilayered silicon-steel-sheet in magnetic circuit. In each type, magetic field analysis was coducted in order to optimize the performance(3)A high-performance force display system using four MR actuators was developed. The developed system can be applied to rehabilitation, virtual reality, teleoperation, etc.(4)Isokinetic exercise training systems were developed by usin functional fluids(5)The application of a force display system using functional fluid to upper-limbs rehabilitation was examined. The basic clinical tests were conducted in a hospital