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We have proposed a leg-shaped haptic simulator (Leg-Robot) that provides an environment for young physical therapist to learn rehabilitation techniques or diagnosis techniques with haptic information which mimics a real patient with abnormal motor function, for example, stroke or spinal cord injury. In previous studies, we also proposed a control method to develop a clonus-like movement for the Leg-Robot...
Recently the needs for medical rehabilitation support systems are increasing in Japan, which use robot technology and virtual reality technology. Applying these technologies make efficient medical rehabilitation outcome. We have developed 6-degrees-of-freedom (DOF) upper extremity exercise system to evaluate synergy pattern an to exercise of upper extremity of stroke patients, named ??Robotherapist??...
Rehabilitation for upper limbs is important for the elderly people, the stroked patients and so on. In recent years, the needs for rehabilitation support systems are increasing, which use robot technology, virtual reality technology and neuroscience. In this paper we present about a development of evaluation system of the motor function for upper limbs using 3-D rehabilitation Robot ldquoEMULrdquo...
Strengthening muscle force by training, e.g., an isokinetic exercise is used widely used method in the rehabilitation medicine and sports medicine. However, many conventional isokinetic exercise machines cannot be used safely and easily. In this study, we developed an isokinetic and iso-contractile exercise machine, named ldquoMEM-MRBrdquo, using an ldquoMR brakerdquo. This brake includes MR fluid...
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,...
Many kinds of actuator-based (active type) haptic devices have developed and utilized as rehabilitation robots. These systems have great advantages for rehabilitative activities, for example assistive forces and so on. However, from the view point of safety, we have a room to consider utilizing brake-based (passive type) haptic devices as rehabilitation-tools. The effects and roles of active / passive...
In recent years, many researchers have studied on the rehabilitation robotics to assist medical staff or patients. Some kinds of haptic devices have been developed and evaluated its efficiency with clinical tests, for example, upper limb training for patients with spasticity after stroke. Almost all the devices for upper limb rehabilitation have only 2-DOF for its active motion except for wrists....
Ankle-foot orthoses (AFOs) are orthotic devices supporting movements of ankles for disabled people for example hemiplegia, peroneal nerve palsy, etc. In our research, we have developed the intelligently controllable AFO (I-AFO) which can control its ankle torque by using compact magneto-rheological fluid (MRF) brakes. In this paper, we describe the gait-control tests with I-AFO for a patient of the...
Several 2-DOF rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness was reported in several studies for the aged people or patients with stroke. We developed the quasi 3-DOF rehabilitation system ldquoHybrid PLEMOrdquo which has 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. Hybrid-PLEMO is a compact, low-cost...
Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids...
This paper reports the high frequency characteristics of Co-rich amorphous tape wound cores under the flux resetting characteristics up to 2O0kHz. The characteristics can be utilized for magnetic amplifiers in a switched-mode power supply. The advantages of the amorphous cores have been clarified as compared with 50%Ni-Fe, 79%Ni-Fe and Mn-Zn ferrite cores. Some problems related to the stability and...
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