Development of Shear Type Compact MR Brake for the Intelligent Ankle-Foot Orthosis and Its Control; Research and Development in NEDO for Practical Application of Human Support Robot

摘要

A brake in which the magnetorheologic fluid (MRF) is used has a simple structure and good responsibility. Therefore, MR brake is expected to perform a good adaptability for human-coexistence system. Being applied in an ankle-foot orthosis, however, conventional MR brake is too large to fit. Then, in this study we developed a shear-type MR brake with multi layer disks and minute gaps (50 micrometers) to realize compactness and high performance. This paper describes the development of a shear type compact MR brake and a new controllable ankle-foot orthosis with this brake. Furthermore, we design algorithm to control an ankle. We assist gait of a patient by changing a brake force.