TY - JOUR
T1 - Development of tetrahedral type rehabilitation device using flexible pneumatic actuators
AU - Suzuki, Yoshio
AU - Akagi, Tetsuya
AU - Dohta, Shujiro
AU - Kobayashi, Wataru
AU - Tamaki, Hiroaki
AU - Matsui, Yasuko
AU - Shimooka, So
N1 - Funding Information:
This study was supported by the Education Ministry of Japan through a Financial Assistance Program for QOL Innovative Research (2012-2016) and a Grant-in-Aid for Scientific Research (C) (Subject 16K06202 & 17J09802).
Publisher Copyright:
© 2018 Int. J. Mech. Eng. Rob. Res.
PY - 2018/7/1
Y1 - 2018/7/1
N2 - Rehabilitation devices help to recover physical ability of patients. This study aims to develop a home rehabilitation device which can be safe to use while patients are holding it by hands. In the previous study, as a portable rehabilitation device, the flexible spherical actuator that was able to give motions to patients while handling it was developed. The device can give rehabilitation motion for upper limb by only changing the relative position of patient's hands. However, the tested device cannot give absolute position for hands for rehabilitation of shoulders. In this study, we aim to develop a low-cost and simple home rehabilitation device for shoulder that can change absolute position of the device. In this paper, to realize position change of the flexible spherical actuator, the development of a tetrahedral type rehabilitation device using extension type flexible pneumatic actuators is described. The construction and the operating principle of the tested device is also described. The attitude control using the tested device and an embedded controller is also carried out. As a result, it can be confirmed that the absolute position of the object can trace the desired coordinate relatively well.
AB - Rehabilitation devices help to recover physical ability of patients. This study aims to develop a home rehabilitation device which can be safe to use while patients are holding it by hands. In the previous study, as a portable rehabilitation device, the flexible spherical actuator that was able to give motions to patients while handling it was developed. The device can give rehabilitation motion for upper limb by only changing the relative position of patient's hands. However, the tested device cannot give absolute position for hands for rehabilitation of shoulders. In this study, we aim to develop a low-cost and simple home rehabilitation device for shoulder that can change absolute position of the device. In this paper, to realize position change of the flexible spherical actuator, the development of a tetrahedral type rehabilitation device using extension type flexible pneumatic actuators is described. The construction and the operating principle of the tested device is also described. The attitude control using the tested device and an embedded controller is also carried out. As a result, it can be confirmed that the absolute position of the object can trace the desired coordinate relatively well.
KW - Embedded controller
KW - Extension type flexible pneumatic actuator
KW - Low-cost home rehabilitation device
KW - Quasi-servo valve
KW - Tetrahedral type rehabilitation device
KW - Wire type linear potentiometer
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U2 - 10.18178/ijmerr.7.4.409-414
DO - 10.18178/ijmerr.7.4.409-414
M3 - Article
AN - SCOPUS:85049754359
VL - 7
SP - 409
EP - 414
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
SN - 2278-0149
IS - 4
ER -