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Development of Portable Rehabilitation Device Using Flexible Spherical Actuator and Embedded Controller

  • Yasuko Matsui
  • Tetsuya Akagi
  • Shujiro Dohta
  • Mohd Aliff
  • Changjiang Liu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 293)

Abstract

The purpose of our study is to develop a potable rehabilitation device which can be safe enough to apply to the human body. A novel flexible pneumatic actuator that can be used even if it is deformed by external force has been developed in our previous study. In this paper, a portable rehabilitation device using the flexible spherical actuator that consists of two ring-shaped flexible pneumatic cylinders is proposed and tested. The low-cost control system using small-sized quasi-servo valves and an embedded controller is also developed. The spherical actuator is also improved so as to apply to the portable device. In addition, the attitude measuring system for attitude control of the device using a tiny embedded controller and accelerometers is constructed and tested. As a result, we can confirm that the tested measuring system can measure the attitude angle of the device at the handling position. The light-weight portable device with a mass of 310 g was realized.

Keywords

Portable rehabilitation device Flexible pneumatic cylinder Flexible spherical actuator Embedded controller Low cost 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Yasuko Matsui
    • 1
  • Tetsuya Akagi
    • 1
  • Shujiro Dohta
    • 1
  • Mohd Aliff
    • 1
  • Changjiang Liu
    • 1
  1. 1.Department of Intelligent Mechanical EngineeringOkayama University of ScienceOkayamaJapan

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