Development of Disposable Low-cost Wearable Pneumatic Control Devices and Its Application

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K04265
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Okayama University of Science
• Principal Investigator: Akagi Tetsuya 岡山理科大学, 工学部, 教授 (50311072)
• Project Period (FY): 2019-04-01 – 2022-03-31
• Keywords: 低コストホームリハビリテーション機器 / 使い捨て可能なソフトアクチュエータ / 伸長型柔軟空気圧アクチュエータ / ゲート機構を用いた低コスト気液両用サーボ弁 / 低コスト組込コントローラ / 可搬型柔軟球面アクチュエータ / 四面体型柔軟空気圧アクチュエータ

Outline of Final Research Achievements

This study aiming to develop the disposable rehabilitation device that can be used at home is summarized as follows. As a wrist rehabilitation device, a low-cost spherical actuator and a tetrahedral-shaped soft actuator using extension type flexible pneumatic actuators were developed. In the attitude control using these actuators, the model of the actuator driven by on/off valves was proposed. By constructing the attitude control system of the actuator without sensor based on the proposed model, the washable rehabilitation device could be realized. In consideration of using Tap water, the low-cost servo valve that has a novel opening and closing mechanism using a gate mechanism and diaphragm was also proposed as a gas-liquid control valve. In addition, the developed control devices were applied for pipe inspection robot and six-legged mobile robot.

Free Research Field

メカトロニクス・流体制御

Academic Significance and Societal Importance of the Research Achievements

本研究は，自宅で，独りで使用できるリハビリテーション機器の実現に必要なソフトアクチュエータやセンサ，制御弁などの要素技術の開発を行った研究であり，さらに，機器使用後の洗浄コストや人手を考慮し，開発当初から使い捨てに耐え得る低コストの制御機器の開発をめざした研究である．この研究成果は，将来の福祉分野への応用だけでなく，低コストでさらに空気の圧縮性やソフトアクチュエータの耐衝撃性の利点からロボット分野への応用にも期待できる要素技術の開発であると考える．