Title :
Development of Shear Type Compact MR Brake for the Intelligent Ankle-Foot Orthosis and Its Control; Research and Development in NEDO for Practical Application of Human Support Robot
Author :
Furusho, Junji ; Kikuchi, Takehito ; Tokuda, Miwa ; Kakehashi, Taigo ; Ikeda, Kenichi ; Morimoto, Shouji ; Hashimoto, Yasunori ; Tomiyama, Hiroki ; Nakagawa, Akio ; Akazawa, Yasushi
Author_Institution :
Osaka Univ., Osaka
Abstract :
A brake in which the magnetorheologic fluid (MRF) is used has a simple structure and good responsibility. Therefore, MR brake is expected to perform a good adaptability for human-coexistence system. Being applied in an ankle-foot orthosis, however, conventional MR brake is too large to fit. Then, in this study we developed a shear-type MR brake with multi layer disks and minute gaps (50 micrometers) to realize compactness and high performance. This paper describes the development of a shear type compact MR brake and a new controllable ankle-foot orthosis with this brake. Furthermore, we design algorithm to control an ankle. We assist gait of a patient by changing a brake force.
Keywords :
biomechanics; handicapped aids; magnetorheology; medical control systems; orthotics; patient rehabilitation; NEDO; brake force; gait assistance; human support robot; human-coexistence system; intelligent ankle-foot orthosis; magnetorheologic fluid; multilayer disks; patient rehabilitation; shear type compact MR brake; Algorithm design and analysis; Force control; Force sensors; Humans; Intelligent robots; Orthotics; Page description languages; Rehabilitation robotics; Research and development; Service robots;
Conference_Titel :
Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on
Conference_Location :
Noordwijk
Print_ISBN :
978-1-4244-1320-1
Electronic_ISBN :
978-1-4244-1320-1
DOI :
10.1109/ICORR.2007.4428411
