Development of Leg Robot for Simulation of Spastic Movement with Compact MR Fluid Clutch

• Kikuchi Takehito

  Osaka University

• Oda Kunihiko

  Osaka Electro-Communication University

• Yamaguchi Sayo

  Osaka University

• Furusho Junji

  Osaka University

Bibliographic Information

Other Title

• コンパクトＭＲ流体クラッチを用いた足部痙性シミュレータの開発
• コンパクト MR リュウタイ クラッチ オ モチイタ ソクブケイセイ シミュレータ ノ カイハツ

Abstract

In this study, we propose a leg-robot with an MR clutch to realize virtual haptic control for spastic movements of brain-injured patients. This system works for practical training for trainees of physical therapy. Additionally, we will study to figure out the physiological mechanism of spastic movements of human with the process to simulate patient-like spastic motion by this robot. In this paper, basic structure and mechanism of the leg-robot with the MR clutch are explained. Finally, experimental results of haptic control for ankle clonus are described.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 27 (8), 933-941, 2009

  The Robotics Society of Japan

Keywords

• Leg Robot
• Spasticity
• Ankle Clonus
• Haptic Control
• MR Fluid Clutch

Details

• CRID: 1390282679703152000
• NII Article ID: 10026089500
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.27.933
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 10468489
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I10468489
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed