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ABSTRACT: Rehabilitation for upper limbs is important for elderly people, people who have suffered a stroke and so on. In recent years, the needs for rehabilitation support systems are increasing, which use robot technology and virtual reality technology. Applying these technologies make efficient rehabilitation possible. But there was few rehabilitation support robot system for 3-D training with high safety. So we have developed three different rehabilitation machines for upper limbs: "EMUL", "Robotherapist" and "PLEMO". In this paper, we introduce the recent researches of each robot.
Artificial Reality and Telexistence, 17th International Conference on; 12/2007
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Proceedings VRCIA 2006 ACM International Conference on Virtual Reality Continuum and its Applications, Chinese University of Hong Kong, Hong Kong, China, June 14-17, 2006; 01/2006
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ABSTRACT: In the many studies on electrorheological (ER) fluids, which change viscosity upon application of an electric field, they have generally been placed between homogeneous electrodes. In our previous paper we proposed a one-sided (unilateral) electrode configuration, in which the ER fluid is placed between a nonconductive disk and a disk bearing concentric-circular and radial electrode patterns, and described the resulting ER effects of the liquid crystalline polymer ER fluid. Here we describe the ER effects of the same ER fluid between various configurations with homogeneous electrodes, patterned electrodes, and nonconductive disks, and those of a second type of liquid crystalline polymer ER fluid between the patterned electrodes and nonconductive disks. © 2003 American Institute of Physics.
Journal of Applied Physics 10/2003; 94(8):5367-5373. · 2.17 Impact Factor
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Online Proceeding of the 13th International Conference on Artificial Reality and Telexistence, December 3-5, 2003, Keio University, Tokyo, Japan; 01/2003
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Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan; 01/2003
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ABSTRACT: In most industrial robots, serious problems of vibratory behavior are caused because of elasticity in the drive systems. An electro-rheological (ER) fluid is a substance that can change its apparent viscosity by the application of an electric field, and homogeneous ER fluids are effective in reducing vibration in robots. Conventional research into ER fluids is based on parallel electrodes with ER fluids between them. Since a high voltage is required for use of ER fluids with parallel electrodes, problems of cost, safety and wiring for practical applications are of concern. In this article, we propose one-sided pattern electrodes that solve some of the above problems. A one-sided pattern electrode is an electrode in a pattern arranged on only one of the two surfaces of a pair of electrodes, with an insulator arranged on the other surface. We developed two kinds of one-sided pattern electrodes: a concentric circle form and a radial form, experimentally verifying the manifestation of ER effects in a liquid crystalline polymer (a homogeneous ER fluid). In addition, the effect of disk gap upon viscosity change was investigated.© 2002 American Institute of Physics.
Journal of Applied Physics 01/2002; 91(3):1618-1623. · 2.17 Impact Factor
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Proceedings of the 2002 IEEE International Conference on Robotics and Automation, ICRA 2002, May 11-15, 2002, Washington, DC, USA; 01/2002
