Variable Step Type Pneumatic Linear Stepping Actuator for Passive Exercise Device of Hip Joint-Reference-Cited by-同舟云学术

Variable Step Type Pneumatic Linear Stepping Actuator for Passive Exercise Device of Hip Joint

Published:2023-06-20 Issue:3 Volume:35 Page:641-649
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Shinohara Takashi¹,Oe Kota²,Akagi Tetsuya¹,Dohta Shujiro¹,Cho Feifei¹,Kobayashi Wataru¹,Shimooka So³

Affiliation:

1. Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama, Okayama 700-0005, Japan

2. Komagane Plant, Koganei Corporation, 2-6-1 Iizaka, Komagane, Nagano 399-4102, Japan

3. Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, Okayama 700-8530, Japan

Abstract

Because of the elderly society in Japan, a passive exercise device that can be used in homes or hospitals without assistance is desirable. In the device, a soft actuator that can move with both longer strokes and a larger force is useful. In the previous study, a pneumatic linear stepping actuator (PLSA) that can push and pull a flexible rod while changing the gripping position of a tube was developed. In this study, a variable step type PLSA is proposed and tested. Moreover, the development of a passive exercise device for the hip joint using three PLSAs and one connecter connected with three flexible rods and a knee supporter is described. The tracking position control of the knee supporter based on an analytical model is also described. The control system using developed actuators is also introduced.

Funder

Japan Society for the Promotion of Science

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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