Development and control of flexible spherical actuator using flexible pneumatic cylinders

Dohta, Shujiro; Akagi, Tetsuya; Liu, Changjiang; Ando, Ayaka

doi:10.1504/ijamechs.2013.057441

Cited by 12 publications

(3 citation statements)

References 8 publications

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“…In our previous study, to realize a home rehabilitation device, a flexible pneumatic cylinder that was able to be used even if the cylinder was deformed by external forces was proposed and tested [5]. A spherical actuator using two flexible pneumatic cylinders which was able to be used on a table as a rehabilitation device for human wrist and arm was also developed [6], [7], [8]. An attitude control of portable rehabilitation device using the flexible spherical actuator was carried out.…”

Section: Introductionmentioning

confidence: 99%

Development of Tetrahedral Type Rehabilitation Device Using Flexible Pneumatic Actuators

Suzuki

Akagi

Dohta

et al. 2018

IJMERR

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Rehabilitation devices help to recover physical ability of patients. This study aims to develop a home rehabilitation device which can be safe to use while patients are holding it by hands. In the previous study, as a portable rehabilitation device, the flexible spherical actuator that was able to give motions to patients while handling it was developed. The device can give rehabilitation motion for upper limb by only changing the relative position of patient's hands. However, the tested device cannot give absolute position for hands for rehabilitation of shoulders. In this study, we aim to develop a low-cost and simple home rehabilitation device for shoulder that can change absolute position of the device. In this paper, to realize position change of the flexible spherical actuator, the development of a tetrahedral type rehabilitation device using extension type flexible pneumatic actuators is described. The construction and the operating principle of the tested device is also described. The attitude control using the tested device and an embedded controller is also carried out. As a result, it can be confirmed that the absolute position of the object can trace the desired coordinate relatively well.  Index Terms-tetrahedral type rehabilitation device, extension type flexible pneumatic actuator, low-cost home rehabilitation device, embedded controller, quasi-servo valve, wire type linear potentiometer.

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Section: Introductionmentioning

confidence: 99%

Development of Tetrahedral Type Rehabilitation Device Using Flexible Pneumatic Actuators

Suzuki

Akagi

Dohta

et al. 2018

IJMERR

Self Cite

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“…We also developed a spherical actuator using flexible pneumatic cylinders. This actuator can be used on a table as a rehabilitation device for the human wrist and arm [6] [7]. In other research work, Krebs, Takaiwa, and Noritsugu developed wrist rehabilitation devices [8] [9] [10].…”

Section: Introductionmentioning

confidence: 99%

Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

Matsui¹,

Akagi²,

Dohta³

et al. 2018

JFCMV

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Rehabilitation devices help to recover the physical abilities of patients. This study aims to develop a portable rehabilitation device that is safe to use when patients are holding it by hands. In a previous study, to realize a home rehabilitation device, a flexible spherical actuator that can provide motion to patients was developed. In this study, to measure the relative position between both handling stages, a 3D coordinate measuring device using three wire-type linear potentiometers and an embedded controller was proposed and tested. In this paper, the spherical actuator with built-in 3D coordinate measuring device is described. The measuring method and experimental results obtained are also presented. The tracking position control of the actuator using the measuring device was carried out. As a result, the position of the handling stages can be successfully controlled using the feedback signal from the tested measuring device.

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“…As applications of the developed cylinder, a flexible robot arm for wrist rehabilitation using three flexible pneumatic cylinders was proposed and tested [8]. A portable rehabilitation device using a spherical actuator that consist of two flexible cylinders was also developed [9]. From these applications, the validity of flexible pneumatic cylinder for application as a rehabilitation device was confirmed [10,11].…”

Section: Introductionmentioning

confidence: 99%

Improvement of Flexible Linear Stepping Actuator Driven by Pneumatic Balloons and Brakes

et al. 2016

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Abstract. The development of soft actuator for the rehabilitation device and power assisting devices has been required based on aging society. However, a flexible actuator that can generate both larger force and longer displacement has not been developed. It is also difficult to realize a flexible displacement sensor with long stroke while deforming its form according to the actuator's shape. In the previous study, the flexible actuator with larger force and longer stroke that can adjust its stroke by giving stepping motion using pneumatic balloons and brakes was proposed and tested. However, the slipping of the pneumatic brake prevents the larger generated force. In this paper, the improved pneumatic brake using a pneumatic balloon and a mechanical chuck is described. The fundamental performance of the actuator using the improved brake is also described.

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Development and control of flexible spherical actuator using flexible pneumatic cylinders

Cited by 12 publications

References 8 publications

Development of Tetrahedral Type Rehabilitation Device Using Flexible Pneumatic Actuators

Development of Tetrahedral Type Rehabilitation Device Using Flexible Pneumatic Actuators

Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

Improvement of Flexible Linear Stepping Actuator Driven by Pneumatic Balloons and Brakes

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