Title :
Simulation of clonic movement with leg-robot driven by Compact MR Fluid Clutch
Author :
Kikuchi, Takehito ; Oda, Kunihiko ; Furusho, Junji
Author_Institution :
Grad. Sch. of Eng., Osaka Univ., Suita, Japan
Abstract :
In this study, we propose a leg-robot with a compact MR fluid clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements, which is based on the basic knowledge of neuronal physiology.
Keywords :
biomechanics; clutches; magnetorheology; medical robotics; patient rehabilitation; robot dynamics; abnormal spastic movements haptic control; brain-injured patients; clonic movement simulation; compact magnetorheological fluid clutch; leg-robot; neuronal physiology; Actuators; Haptic interfaces; Humans; Lesions; Medical treatment; Muscles; Neurons; Physiology; Robots; Testing; Clonus; Compact clutch; Haptic device; MR fluid; Spastic movements;
Conference_Titel :
Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on
Conference_Location :
Kyoto International Conference Center
Print_ISBN :
978-1-4244-3788-7
Electronic_ISBN :
1945-7898
DOI :
10.1109/ICORR.2009.5209612
