Basic research of 2D rehabilitation system for upper limbs with redundant ER brakes (1st report, analysis of its force display ability)

被引：0
作者：
Haraguchi M. [1 ]
Jin Y. [1 ]
Furusho J. [1 ]
机构：
[1] Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita-shi, Osaka. 565-0871
来源：
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 2010年 / 76卷 / 761期
关键词：
ER Brake; ER Fluid; Passive Force Display; Rehabilitation; Upper Limb;
D O I：
10.1299/kikaic.76.142
中图分类号：
学科分类号：
摘要：
Rehabilitation for upper limbs is important for elderly people, people who have suffered a stroke and so on. In recent years, the needs for rehabilitation support systems are increasing, which use force display system. Especially, the application of a passive-type force display system is desirable for its high safety. However, there are some directions and link positions for which it is difficult to display the force in a passive-type force display system using only passive elements. To solve this problem, a method for improvement of controllability using redundant brakes had been suggested. This method made it possible to display various force directions and various postures of virtual objects. In this paper, we research about force display ability of passive-type system with redundant brakes.
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页码：142 / 150
页数：8
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