Development of wrist rehabilitation simulator using pneumatic multiple DOF manipulator

• 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
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥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)
• 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

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.

Research Products

• [Journal Article] Wrist rehabilitation simulator for P.T. using pneumatic parallel manipulator (2017)
  • Author(s): Masahiro Takaiwa, Hiroyuki Imanaka
  • Journal Title: Proceedings of the 10th JFPS International Symposium on Fluid Power Volume: - Pages: 1-7
  • Peer Reviewed
• [Journal Article] Wrist rehabiitation training simulator for P.T. using pneumatic parallel manipulator (2016)
  • Author(s): Masahiro Takaiwa
  • Journal Title: Proceedings of Advanced Intelligent Mechatronics (AIM), 2016 Volume: １ Pages: 276-281
  • DOI: 10.1109/aim.2016.7576779
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Presentation] 空気式パラレルマニピュレータを用いた患者手首シミュレータの構築 (2017)
  • Author(s): 今中宏之，高岩昌弘
  • Organizer: 平成29年春季フルードパワーシステム講演会
• [Presentation] 空気式パラレルマニピュレータを用いた多自由度患者手首シミュレータの構築 (2017)
  • Author(s): 高岩昌弘，今中宏之
  • Organizer: 第18回 計測自動制御学会システムインテグレーション部門講演会
• [Presentation] 空気式パラレルマニピュレータを用いたP.T.のための手首リハビリシミュレータ (2016)
  • Author(s): 高岩昌弘
  • Organizer: 日本フルードパワーシステム学会平成28年度春季講演会
  • Place of Presentation: 機械振興会館(東京都港区)
  • Year and Date: 2016-05-26
• [Presentation] 空気式パラレルマニピュレータを用いたP.T.のための手首リハビリ患者モデルの構築 (2015)
  • Author(s): 高岩昌弘
  • Organizer: 第58回自動制御連合講演会
  • Place of Presentation: 神戸大学(兵庫県・神戸市灘区六甲台町1-1)
  • Year and Date: 2015-11-14
• [Presentation] 空気圧アクチュエータを用いた人間支援システムの構築 (2015)
  • Author(s): 高岩昌弘
  • Organizer: 日本機械学会2015年度年次大会先端技術フォーラム
  • Place of Presentation: 北海道大学（北海道・札幌市北区北13条西8丁目)
  • Year and Date: 2015-09-15
  • Invited