Development of wrist rehabilitation simulator using pneumatic multiple DOF manipulator
| Project/Area Number |
15K05899
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | The University of Tokushima |
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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)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| 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 / 手首リハビリテーション / 空気式パラレルマニピュレータ / 機械インピーダンス / 粘弾性特性 / 多自由度マニピュレータ / 空気圧アクチュエータ / 多自由度ロボット |
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| 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.
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Report
(4 results)
Research Products
(7 results)
