Development of Leg Robot for Simulation of Spastic Movement with Compact MR Fluid Clutch

摘要

In this study, we propose a leg-robot with an MR clutch to realize virtual haptic control for spastic movements of brain-injured patients. This system works for practical training for trainees of physical therapy. Additionally, we will study to figure out the physiological mechanism of spastic movements of human with the process to simulate patient-like spastic motion by this robot. In this paper, basic structure and mechanism of the leg-robot with the MR clutch are explained. Finally, experimental results of haptic control for ankle clonus are described.