Development of Second Prototype of Twin-Driven Magnetorheological Fluid Actuator for Haptic Device.

Magnetorheological fluids (MRFs) are functional fluids that exhibit rapid and reproducible rheological responses to external magnetic fields. An MRF has been utilized to develop a haptic device with precise haptic feedback for teleoperative surgical systems. To achieve this, we developed several types of compact MRF clutches for haptics (H-MRCs) and integrated them into a twin-driven MRF actuator (TD-MRA).

Sensibility Assessment For User Interface And Training Program Of An Upper-Limb Rehabilitation Robot, D-SEMUL.

Upper-limb rehabilitation training for hemiplegic patients has been primarily conducted by human therapists, and, hence, their use of training methods and conditions strongly depends on their expertise. The force control and motion sensing functions of rehabilitation robots are expected to be used for the qualitative training/assessment in the next-generation computerized rehabilitation. In this study, we developed a desktop rehabilitation robot for upper limbs (D-SEMUL).

Elastic Properties of Magnetorheological Elastomers in a Heterogeneous Uniaxial Magnetic Field.

Magnetorheological elastomers (MREs) are stimulus-responsive soft materials that consist of polymeric matrices and magnetic particles. In this study, large-strain response of MREs with 5 vol % of carbonyl iron (CI) particles is experimentally characterized for two different conditions: (1) shear deformation in a uniform magnetic field; and (2), compression in a heterogeneous uniaxial magnetic field. For condition (1), dynamic viscoelastic measurements were performed using a rheometer with a rotor disc and an electric magnet that generated a uniform magnetic field on disc-like material samples.

Magnetically Tunable Vibration Transmissibility for Polyurethane Magnetic Elastomers.

The effect of a weak magnetic field on vibration transmissibility was investigated for magnetic elastomers with various volume fractions of magnetic particles. Polyurethane elastomers without magnetic particles exhibited a natural frequency at 53 Hz and were insensitive to a magnetic field of 60 mT. The natural frequency for magnetic elastomers with a volume fraction of 0.

Ankle-foot orthosis using elastomer-embedded flexible joint.

We proposed a new ankle-foot orthosis using elastomer-embedded flexible joints (EEFJ), composed of C-shaped springs and 3D-printed circular elastomer. This orthosis was designed to reduce burden on the tibialis anterior muscle (TA) and to achieve clearance between the tip of the toe and the ground. Strength testing, and gait analysis were conducted for the orthosis.

Novel ankle orthosis with elastomer-embedded flexible joint.

In this study, we propose a new ankle orthosis with elastomer-embedded flexible joints (EEFJ), composed of C-shaped springs and 3D-printed circular elastomer. This orthosis was designed to reduce burden on the tibialis anterior muscle (TA) and to achieve clearance between the tip of the toe and the ground. Fabrication method, strength testing, and gait analysis were conducted.

Upper limb training/assessment program using passive force controllable rehabilitation system.

Upper limb rehabilitation training for Hemiplegie patients has been conducted mainly by human therapists. Training methods and conditions depend strongly on their experience because of the wide range of individual differences between patients. The force control and sensing functions of rehabilitation robots are expected to be used for the qualitative assessment of next-generation computational rehabilitation.

Development of control model for intelligently controllable ankle-foot orthosis.

We have developed an intelligently controllable ankle-foot orthosis (i-AFO). In this paper, we formulated a new control method for the i-AFO. In the method the sensor system of the i-AFO estimates walking speed of user and decide optimal drop speed of foot at the duration between initial contact and foot flat.

Measurement of reaching movement with 6-DOF upper rehabilitation system 'Robotherapist'.

In recent years, the needs for rehabilitation support systems are increasing, which use robot technology and virtual reality technology. Applying these technologies make efficient rehabilitation possible. We have developed 6-degrees-of-freedom (DOF) upper rehabilitation support system to evaluate synergy pattern of stroke survivors and to train stroke survivors, named 'Robotherapist'.

Development of CMTD (Curved Multi-Tubed Device) -system III and its application to the needle-insertion for liver.

The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (Curved Multi-Tube Device) which was developed by Furusho Laboratory. A CMTD, was developed for minimally-invasive surgery and needle insertion. And we use ultrasonograph as a sensing device to detect the position of bible duct or tumor and the orientation and position of the needle which is inserted into liver.

'Hybrid-PLEMO', rehabilitation system for upper limbs with active / passive force feedback mode.

Several rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness was reported in several studies for the aged people or patients with stroke. However most of them have only 2-DOF for its active motion. It is important for designing a rehabilitation system which trains in the 3-DOF space because the upper limbs of humans works in 3-DOF space even expect for the wrist.