Study on High-Performance Force Display System Using ER Actuators

研究结果表明：(1)研制出了能产生双向转矩的双向旋转型内燃致动器。然后建立了它们的模型，建立了它们的控制方法。(2)探讨了内燃致动器的小型化问题，开发了小型、高性能、低惯性的内燃致动器。(3)采用双向旋转型内力执行机构，研制了闭式和并联式力呈现装置。进行了几种力显示实验。(4)采用电致动器力显示系统，研制了康复训练系统。研制的康复训练系统已在某医院安装，并开展了基础试验。

The obtained results in this study are as follows :(1) Two-directional-rotational-type ER actuators were developed which can produce two directional torques. Then we developed their models and established their control methods.(2) We discussed the miniaturization of ER actuators and developed small high-performance ER actuators with low inertia.(3) Closed-link-type and parallel-link-type force presentation devices were developed by using two-directional-rotational-type ER actuators. Several kinds of force display experiments were conducted.(4) A rehabilitation training system has been developed using an ER actuator force display system. The developed rehabilitation training system was installed at a hospital, and basic experiments were carried out.