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

fYear

2009

fDate

23-26 June 2009

Firstpage

80

Lastpage

85

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on

Conference_Location

Kyoto International Conference Center

ISSN

1945-7898

Print_ISBN

978-1-4244-3788-7

Electronic_ISBN

1945-7898

Type

conf

DOI

10.1109/ICORR.2009.5209612

Filename

5209612