Power Assist System with High Safety Using Nano-Particle ER Fluid Actuators

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Since our motion is slow when we take care of patients, the effect of inertia force is negligible, so, we developed a two-dimensional power assist arm which can assist only the effect of gravity force and has passive joints for other degree of freedom.We developed ER fluid actuators with maximum torque 10 [Nm] arid an MR actuator with maximum torque 30 [Nm]. Then, we developed power assist systems by integrating these actuators and the above arm system.Associate Professor K. Tanaka developed several kinds of nano-particle ER fluid. Professor M. Naito and Associate Professor H. Abe developed a nano-particle ER fluid using metal materials which is completely new type. Professor T. Tanaka studied the viscosity of the developed fluid in the case of no electric field.We studied one-sided-electrode method which can realize the usage of ER fluids between narrow gaps. This method is effective since nano-particle ER fluids require high voltage.We also studied the application to the rehabilitation system. The power assist system using ER fluid clutches can realize rehabilitation system with high safety.