Development of Rehabiritation Systems Using MR Fluid

使用 MR 流体开发康复系统

• 批准号: 12555073
• 负责人: FURUSHO Junji
• 金额: $ 4.35万
• 依托单位: OSAKA UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12555073/
• 关键词: Wearable Fluid; MR Fluid; Mechatronics; Rehabiritation; Virtual Reality; Force Display; Biomechanism; Robotics; 磁場解析; アクチュエータ; ブレーキ; 等運動性訓練; モデリング; 作業療法; 理学療法; ロボット工学; トルク制御

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

工作面积较大的上肢康复系统可以看作是一种机器人。在这种人类共存的机器人中，操作人员必须能够安全地使用机器人。然而，由于人类共存机器人的国际安全标准和国内标准尚未建立，我们只能使用ISO标准对接近人类工作的机器进行研究，我们开发了使用功能流体的康复系统，可以保证这些标准。获得的结果如下：我们研究了具有良好反驱动性的连杆系统和皮带驱动系统的运动学评估(2)开发了三种类型的磁流变驱动器，如下：(a)磁路中使用钢的磁流变驱动器(b)磁路中使用硅钢的磁流变驱动器(c)磁路中使用多层硅钢片的磁流变驱动器。在每种类型中，进行了磁场分析，以优化其性能。(3)开发了一种由四个磁流变作动器组成的高性能力显示系统。所开发的系统可应用于康复、虚拟现实、远程操作等领域。(4)利用功能流体开发了等速运动训练系统。(5)研究了功能流体力显示系统在上肢康复中的应用。基本的临床试验在一家医院进行

项目成果

H.Lee, K.Koyanagi, T.Masutomi, J.Furusho: "Study on Characteristics of Compact-type Timing Belt Drive for Force Display System"Transactions of the Japan Society of Mechanical Engineers, Series C. Vol.69, No.677. (2003)

H.Lee、K.Koyanagi、T.Masutomi、J.Furusho：“用于力显示系统的紧凑型同步带驱动特性的研究”日本机械工程学会汇刊，C系列第69卷第1期。

Y.Yakaguchi, J.Furusho, K.Koyanagi, S.Kimura: "Development of 2-D Force Display System Using MR Actuators"Proceedings of The 13th International Conference on Artificial Reality and Telexistence (ICAT 2003). 185-190 (2003)

Y.Yakaguchi、J.Furusho、K.Koyanagi、S.Kimura：“使用 MR 执行器开发 2-D 力显示系统”第 13 届人工现实和远程存在国际会议 (ICAT 2003) 会议记录。

李亨, 小柳健一, 増冨達明, 古荘純次: "力覚提示システムのためのコンパクト型歯付ベルト駆動系の特性に関する研究"日本機械学会論文集(C編). 69巻・677号. 132-139 (2003)

Heng Li、Kenichi Koyanagi、Tatsuaki Masutomi、Junji Furusho：“用于力觉呈现系统的紧凑型齿形带驱动系统的特性研究”日本机械工程学会论文集（编辑 C）第 677 卷。 132-139（2003）

J.Lin, H.Asaoka, M.Sakaguchi, G.Zhang, J.Furusho: "Applying Study Connected with Development of New Actuator Using MR Fluid"Proceedings of the 2000 Japan・USA Flexible Automation Conference. 1158-1162 (2001)

J.Lin、H.Asaoka、M.Sakaguchi、G.Zhang、J.Furusho：“与使用 MR 流体开发新型执行器相关的应用研究”2000 年日本/美国灵活自动化会议记录 1158-1162 (2001)。

N.Takesue, J.Furusho, M.Sakaguchi: "Basic Experiments and Torque Control of MR-Fluid Actuator"Proceedings of the 32th ISR (International Symposium on Robotics). 1158-1162 (2001)

N.Takesue、J.Furusho、M.Sakaguchi：“MR 流体致动器的基本实验和扭矩控制”第 32 届 ISR（国际机器人研讨会）论文集。