Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

• 作者: Hiroaki Tamaki Shujiro Dohta Tetsuya Akagi Wataru Kobayashi Yasuko Matsui
• 来源期刊: 流量控制、测量及可视化(英文)
• 学科: 医学
• 关键词: FLEXIBLE SPHERICAL ACTUATOR FLEXIBLE PNEUMATIC Cylinder 3D COORDINATE Measuring Device Wire-Type Linear POTENTIOMETER
• 年，卷（期）: llkzcljkshyw,（2）
• 页码范围: 95-106
• 页数: 12页
• 分类号: R73

摘要

Rehabilitation devices help to recover the physical abilities of patients. This study aims to develop a portable rehabilitation device that is safe to use when?patients are holding it by hands. In a previous study, to realize a home rehabilitation device, a flexible spherical actuator that can provide motion to patients was developed. In this study, to measure the relative position between both handling stages, a 3D coordinate measuring device using three wire-type linear potentiometers and an embedded controller was proposed and tested. In this paper, the spherical actuator with built-in 3D coordinate measuring device is described. The measuring method and experimental results obtained are also presented. The tracking position control of the actuator using the measuring device was carried out. As a result, the position of the handling stages can be successfully controlled using the feedback signal from the tested?measuring device.