Development of wrist rehabilitation simulator using pneumatic multiple DOF manipulator

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K05899
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokushima
• Principal Investigator: Takaiwa Masahiro 徳島大学, 大学院社会産業理工学研究部(理工学域), 教授 (60243490)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 空気圧システム / リハビリテーション / 患者シミュレータ / パラレルマニピュレータ / 機械インピーダンス制御

Outline of Final Research Achievements

We have developed a wrist rehabilitation simulator in order to improve skill of PT and transfer skill from expert PT to new one. A pneumatic parallel manipulator is introduced and wrist model is mounted on the manipulator. Mechanical impedance control is implemented to realize mechanical property of the wrist. An interface using joystick is proposed with which a PT regulates the parameter of the impedance based on their expert knowledge and long term experience. We also proposed a skill transfer strategy where AR technology is introduced to visualize the applied torque from an expert PT and new one can follow the visualized torque as a reference.

Free Research Field

ロボット工学