Design of Upper Limb Assistive Device Using a Pneumatic Cylinder
DOI:
https://doi.org/10.12970/2308-8354.2013.01.01.2Keywords:
Robotic device, Gait, Rehabilitation, Stroke.Abstract
This paper describes the design of a device to support a patient’s upper limb motion. For safety, light weight, and flexibility, it uses a pneumatic cylinder for which the optimum arrangement is presented. This independence-supporting device has two modes corresponding to livelihood support and rehabilitation. Based on human motion, a compliance control system and a position control system are designed for those modes. As described herein, we evaluate the independence-support mode effectiveness through experimentation. Keywords: Medical systems, Pneumatic systems, Actuators, Human-machine interface, Quality of daily life.References
[1] Government of Japan Cabinet office, Annual report on the Aging 2006.
[2] Kiguchi K, Tanaka T, Watanabe K, Fukuda T. Design and Control of an Exoskeleton System for Human Upper-Limb Motion Assist, IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2003; pp. 926-931.
[3] Yamamoto K, Hyodo K, Ishii M, Matsuno T. Development of Power Assisting Suit for Assisting Nurse Labor. JSME Int J Ser B 2002; 45(3): 703-11. http://dx.doi.org/10.1299/jsmec.45.703
[4] Saga N, Saito N, Chonan S. Development of a Support Arm System Using Artificial Muscle Actuator and Gas spring, 2nd Frontires in Biomedical Devices Conference 2007.
[5] Saga N, Saikawa T, Okano H. Flexor Mechanism of Robot Arm Using Pneumatic Muscle Actuators, IEEE InternationalConference on Mechatronics & Automation 2005; pp. 1261- 1266.
[6] Noritsugu T, Ando F, Yamanaka T. Rehabilitation Robot Using Rubber Artificial Muscle (1st Report Realization of Exercise Motion with Impedance control). J RSJ 1995; 13(1): 141-48.
[7] Bien Z, Kim D-J, Chung M-J, Kwon D-S, Chang PH. Development of a Wheelchair-based Rehabilitation Robotic System (KARESII) with Various Human-Robot Interaction Interfaces for the Disabled, Advanced Intelligent Mechatronics 2003; pp. 902-907.
[8] Japanese body size data book 2004-2006, Research Institute of Human Engineering for Quality Life 2011.
[9] Araki M, Taguchi H. Two-Degree-of-Freedom PID Controllers. Int J Control Automation Syst 2003; 1(4): 401-11.
[10] Richardson R, Brown M, Bhakta B, Levesley M. Impedance control for a pneumatic robot-based around pole-placement, joint space controllers. ELSEVIER Control Engineering Practice 2004; 13: 291-303. http://dx.doi.org/10.1016/j.conengprac.2004.03.011
[11] Tsumugiwa T, Fuchikami Y, Kamiyoshi A, Yokogawa R, Yoshida K. Stability Analysis for Impedance Control of Robot in Human-Robot Cooperative Task System. J Adv Mech Design Syst Manufacturing 2007; 1(2): 133-21.
