Leg-Robot with MR Clutch to Realize Virtual Spastic Movements
Source abstract
Abstract
In this study, we propose a leg-shaped robot (Leg-Robot) with a magnetorheological fluid clutch (MRFC) to demonstrate virtual haptic of spastic movements of brain-injured patients. The MRFC installed in this system makes it safer than conventional direct-driven robots. At the same time, the MRFC also improves quality of haptic to mimic the human-like reactions. This system is useful to learn diagnosis methods of physical therapy for its trainees. In this article, basic structure and mechanism of the Leg-Robot are explained. Then, control methods and experimental results of three types of spastic movements are described.
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Research context
OpenAlex topics: Botulinum Toxin and Related Neurological Disorders · Cerebral Palsy and Movement Disorders · Stroke Rehabilitation and Recovery
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Affiliations
Graduate School of Science and Engineering, Yamagata University, 4-3-16 Jonan, Yonezawa 992-8510, Japan,
Department of Physical Therapy, Osaka Electro-Communication University, 1130-70 Kiyotaki, Shijo-nawate 575-0063, Japan
Graduate School of Engineering, Osaka University, 2-1 Yamadaoka, Suita 565-0871, Japan
References (17)
Show source-provided references
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