Development of Rehabiritation Systems Using MR Fluid

上肢康复系统可以看作是一种机器人，具有较大的工作面积。在这种人类共存的机器人中，操作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和国内标准尚未建立，我们别无选择，只能使用ISO标准的机器接近人类工作在这项研究中，我们开发了康复系统，使用功能流体，可以确保这些标准，得到的结果如下：（1）为构建康复体系的良好机制，研究了具有良好反向驱动性能的连杆系统和带传动系统的运动学评价。（2）研制了三种类型的磁流变驱动器：（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）多层硅钢片磁路磁流变驱动器。对每种类型的力显示器进行了磁场分析，以优化其性能。（3）研制了一种高性能的四磁流变力显示器。该系统可应用于康复训练、虚拟现实、遥操作等领域。（4）利用功能液研制了等速运动训练系统。（5）探讨了功能液力显示系统在上肢康复训练中的应用。基本的临床试验是在一家医院进行的

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