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Development of synchronized control system through a pneumatic parallel mechanism and its 3D CG model

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Abstract

This study developed a rehabilitation system that can improve the patient care services provided by physical therapists. Wristparalyzed patients were given arbitrary force through a six-Degree of freedom (6DoF) parallel mechanism composed of six pneumatic cylinders, and recovery training was performed. Each pneumatic cylinder was used to apply force control using a pulse width modulation control, and the force of the 6DoF direction was directed to the wrist of the patient. The thrust force of each cylinder and the force of the 6DoF direction of the parallel mechanism were analyzed. The analysis results conformed well to the experimental results. The developed rehabilitation system was designed to help a physical therapist remotely treat multiple patients at the same time. To monitor the operation of the parallel mechanism of each patient’s side, a 3D computer graphic model was created through OpenGL. The movement of this model was investigated to further examine the movement of the 6DoF direction of the parallel mechanism. Results confirmed that both movements can be controlled synchronously.

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Authors and Affiliations

  1. Department of Extreme Energy Systems, Korea Institute of Machinery and Materials, Daejeon, 305-343, Korea

    Yoshito Tanaka & So-Nam Yun

  2. Plant System and Machinery, Korea University of Science and Technology, Korea, Korea

    So-Nam Yun

  3. Faculty of Engineering and Design, Hosei University, 2-17-1 Fujimi, Chiyodaku, Tokyo, 102-8160, Japan

    Yutaka Tanaka

Authors
  1. Yoshito Tanaka
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  2. So-Nam Yun
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  3. Yutaka Tanaka
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Corresponding author

Correspondence to So-Nam Yun.

Additional information

Yoshito Tanaka received his Ph.D. degree in Engineering from Kyushu University, Japan in 1982. From 1969 to 2000, he worked on an electro-hydraulic servo system at the Mechanical Research Laboratory of Hitachi, Ltd. Since 2000, he has been a professor at the Department of Control and Information Systems Engineering, Kitakyusyu National College of Technology, Japan. He is also a professor of Intelligent Mechanical Engineering at the Department of Engineering, Fukuoka Institute of Technology, Japan, since 2009. He has been part of the Korea Brain Pool Researcher of the Korea Institute Machinery and Materials (KIMM) since 2014. His research interests include mechanical dynamics, automatic control, and application of parallel mechanism.

So-Nam Yun received his Ph.D. degree from Pukyong National University in 1994. He is a principal researcher of the Extreme Mechanical Engineering Research Division of KIMM and a professor of Plant System and Machinery at Korea University of Science and Technology. His research interests include smart actuators, hydraulic-pneumatic valves, simulator, and hydraulic devices for deep-sea submersibles.

Yutaka Tanaka received his Ph.D. degree in Engineering from Tokyo Institute of Technology, Tokyo, Japan, in 1991. From 1985 to 1991, he worked on an electrohydraulic servo system in the Precision and Intelligence Laboratory of Tokyo Institute of Technology, Tokyo, as a research associate. Since 1991, he has been an associate professor of Mechanical Engineering at the College of Engineering, Hosei University, Tokyo. He is also a professor of Engineering and Design at the Faculty of Engineering and Design, Hosei University, since 2002.

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Tanaka, Y., Yun, SN. & Tanaka, Y. Development of synchronized control system through a pneumatic parallel mechanism and its 3D CG model. J Mech Sci Technol 30, 397–403 (2016). https://doi.org/10.1007/s12206-015-1244-1

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  • DOI: https://doi.org/10.1007/s12206-015-1244-1

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