Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

Matsui, Yasuko; Akagi, Tetsuya; Dohta, Shujiro; Kobayashi, Wataru; Tamaki, Hiroaki

doi:10.4236/jfcmv.2018.62009

Cited by 9 publications

(3 citation statements)

References 13 publications

(16 reference statements)

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“…In Figure 26, the solid lines and squares denote the calculated and experimental results, respectively, when EFPA 1 was pressurized. In the experiment, the length of virtual EFPA A was measured with a developed wire-type linear potentiometer [33] and small holes for the virtual EFPA in the restraint plate, as illustrated in Figure 22. According to Figure 26, the calculated lengths agree well with the experimental results.…”

Section: Analytical Model Of Hexagonal Pyramid Shape Of Efpamentioning

confidence: 99%

Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device

Shimooka,

Himuro,

Gofuku

2023

Actuators

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Rehabilitation devices for passive exercise have been actively researched and developed in accordance with Japan’s aging society. A previous study proposed and tested an extension-type flexible pneumatic actuator (EFPA) with reinforced stiffness that could achieve passive exercise in patients. In addition, a rehabilitation device for shoulder joints with an embedded controller and small valves was proposed and tested. Joints such as the shoulder and scapula were subjected to passive exercise utilizing the tested device. However, it is difficult for patients with contractions to perform the same exercise because the reinforced EFPA can buckle. Here, to realize an EFPA with a higher stiffness, a flexible actuator in the shape of a hexagonal pyramid is proposed and tested. The hexagonal pyramid shape of a flexible actuator has a high stiffness in the direction of motion and flexibility in other directions; hereafter, this characteristic is called anisotropic stiffness. The characteristics of the hexagonal pyramid shape of the EFPA are described and compared with those of a previously reinforced EFPA. An analytical model was proposed to predict and design the shape of the hexagonal pyramid EFPA. The validity of the model is also described.

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Section: Analytical Model Of Hexagonal Pyramid Shape Of Efpamentioning

confidence: 99%

Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device

Shimooka,

Himuro,

Gofuku

2023

Actuators

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show abstract

“…However, these devices could not be easily released by patients when they feel scared. In the previous study, the portable rehabilitation device using a flexible spherical actuator that can provide passive exercise for the wrist by changing the position of holding hands was proposed and tested [12][13][14]. However, these devices could not give larger moving area and force for human arm and shoulder.…”

Section: Introductionmentioning

confidence: 99%

“…The integrated type EFPA consists of parallel arranged three EFPAs covered by the sponge. The rehabilitation device consists of three integrated type EFPAs, three-wire type linear potentiometer [14] to measure the displacement of each EFPA, three quasi-servo valves [15][16] to drive EFPAs and a micro-computer (Renesas Co. Ltd., SH7125) to control the attitude of the device. The device can be driven by only connecting a pneumatic supply tube and a power supply cable.…”

Section: Introductionmentioning

confidence: 99%

Development of Reinforced Extension Type Flexible Pneumatic Actuator with Circumferential Restraints and Its Application for Rehabilitation Device

Shimooka¹,

Akagi²,

Dohta³

et al. 2020

IJAME

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Based on super-aging society in Japan, a welfare pneumatic device to give passive exercise for the temporally injured elderly and disabled has been actively researched and developed. In previous study, based on opinions of Physical Therapist (PT) and Occupational Therapist (OT), a home-based rehabilitation device that could give passive exercise for patients using extension type flexible pneumatic actuators (EFPA), built-in quasi-servo valves and built-in displacement sensors using a wire type linear potentiometer was proposed and tested. However, the device did not have enough force and stiffness to drive shoulders with both arms. In this study, to get enough generated force and stiffness of the device, a parallel arranged EFPA reinforced with circumferential restraint was proposed and tested. The rehabilitation device for shoulder joint using the improved actuator was also proposed and tested. The built-in attitude control system using valves, sensors and an embedded controller was also developed. As a result, it can be confirmed that the device can give passive exercise with larger moving area and enough force and torque to move patient’s shoulder joint.

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Development of a Tetrahedral-Shaped Soft Robot Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators

Wei

Jhan²,

Inokuma

et al. 2020

JRM

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Based on aging Japanese society, there has been a strong desire for development of rehabilitation devices that patients can use at home. The purpose of this study is to develop a home-based compact, lightweight, flexible, and safe rehabilitation device. In this study, a flexible robot arm for wrist rehabilitation that can be used, while patients hold the top of the robot arm, is proposed and tested. The proposed robot arm consists of three extension type flexible pneumatic actuators (EFPAs) restrained by 22 PET sheets. To achieve suitable bending stiffness of the robot arm, three EFPAs are restrained so as to form a tetrahedral shape. The robot arm can bend toward each radial direction. In this paper, the construction and operational principles of the tested robot arm are described. Additionally, the analytical model of the robot arm for attitude control is also described. In addition, the tracking control using the robot arm for the desired orbit is performed. As a result, the tested robot arm can trace the desired orbit based on the model. It is confirmed that the robot arm has the possibility for application as a wrist rehabilitation device for patients.

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Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

Cited by 9 publications

References 13 publications

Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device

Development of Hexagonal Pyramid-Shaped Flexible Actuator with Anisotropic Stiffness for Upper-Limb Rehabilitation Device

Development of Reinforced Extension Type Flexible Pneumatic Actuator with Circumferential Restraints and Its Application for Rehabilitation Device

Development of a Tetrahedral-Shaped Soft Robot Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators

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