Development of wearable master-slave traininm device constructed with pneumatic rubbermusca es

In this study, the bilateral type pneumatic wearable master-slave device has been developed in order to feed back a force information to the trainer. Developed device is constructed with a master and a slave devices using pneumatic rubber muscles. A reaction torque of the slave device is estimated by a disturbance observer. By feeding back the estimated torque to a torque control system of the master device, a user of the master device can feel the reaction torque from the of slave. In this paper, the structure of the developed device is discussed, and then the control system is described. Finally, the validity of the proposed device is evaluated from the experiments that assume rehabilitation of an elbow.