RoboCup. Basic Study for Development of Muscular-Strength Estimation and Training System Using ER Brake. Development of ER Brake and its Passive Velocity Control.

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  • ＥＲブレーキを用いた筋力評価・訓練システム開発のための基礎研究　　ＥＲブレーキの開発およびそのパッシブ速度制御
  • ER ブレーキ オ モチイタ キンリョク ヒョウカ クンレン システム カイハツ ノ タメ ノ キソ ケンキュウ ER ブレーキ ノ カイハツ オヨビ ソノ パッシブ ソクド セイギョ
  • —Development of ER Brake and its Passive Velocity Control—
  • ―ERブレーキの開発およびそのパッシブ速度制御―

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Abstract

An isokinetic exercise is one of the training methods. Servomechanism using electric motor has been used for isoki netic exercise system. But, isokinetic exercises can be realized by using passive devices such as brakes or dampers. Since such passive systems are inherently safe, they are suitable for mechanical systems which are operated by hu man beings. In this study, we develop the brake using particle-type ER fluid. ER fluid is a fluid whose rheological characteristics can be controlled by electric field. ER brakes can response very quickly and have the characteristics like Coulomb friction. Then, we discuss the velocity control of ER brake system. Finally we confirmed the validity of the proposed method by control experiments.

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