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In this project, we have developed virtual haptic simulators that can simulate several kinds of abnormal movements and haptics of the disabled people. In the previous report, we proposed a leg-shaped robot (Leg-Robot) with a Compact MR Fluid Clutch (CMRFC) to establish highly safe human-machine co-existent system, and control methods to realize several kinds of abnormal symptoms. In this paper, we...
Safe actuators with controllable compliance are indispensable for assistive robots working in human environment and especially for rehabilitation devices physically interacting with patient. The paper introduces new patent pending soft fluidic actuators with rotary elastic chambers (REC), which produces rotational motion without any additional transmission elements. The key actuator features as inherent...
The goal of this work is the development and performance analysis of control algorithms for new soft fluidic actuators with rotary elastic chambers (REC-actuators). Due to their inherent compliancy these actuators fulfill the requisites for building intrinsically safe mechanisms as assistance robots and motion therapy devices, working in direct physical contact with humans. Besides the difficulties...
Patients with moderate to severe hemiparesis following stroke often show abnormal muscle coactivation and a loss of interjoint coordination in the hemiparetic limb. These abnormal stereotypic movement patterns are known in clinical rehabilitation as abnormal secondary torques or synergies. In the beginning of a rehabilitation process the patients often train inside those synergistic patterns, what...
Rehabilitation robotics is a young discipline that will become an imperative when the age of the population rises. The orthopaedic rehabilitation of the elbow joint poses some interesting challenges, discussed in this paper. There is a major difference between neuro-rehabilitation and orthopaedic rehabilitation and thus in the approaches necessary to tackle its challenges. Moreover, the elbow joint...
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