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首页> 外文期刊>JSME International Journal. Series B, Fluids and Thermal Engineering >Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches
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Torque Control of a Rehabilitation Teaching Robot Using Magneto-Rheological Fluid Clutches

机译：磁流变流体离合器的康复教学机器人的转矩控制

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摘要

A new robot that makes use of MR-fluid clutches for simulating torque is proposed to provide an appropriate device for training physical therapy students in knee-joint rehabilitation. The feeling of torque provided by the robot is expected to correspond to the torque performance obtained by physical therapy experts in a clinical setting. The torque required for knee-joint rehabilitation, which is a function of the rotational angle and the rotational angular velocity of a knee movement, is modeled using a mechanical system composed of typical spring-mass-damper elements. The robot consists of two MR-fluid clutches, two induction motors, and a feedback control system. In the torque experiments, output torque is controlled using the spring and damper coefficients separately. The values of these coefficients are determined experimentally. The experimental results show that the robot would be suitable for training physical therapy students to experience similar torque feelings as needed in a clinical situation.
机译：提出了一种新的机器人，该机器人利用MR流体离合器来模拟扭矩，从而为训练物理治疗学生的膝关节康复提供合适的设备。机器人提供的扭矩感觉有望与物理治疗专家在临床环境中获得的扭矩性能相对应。膝关节康复所需的扭矩是膝关节运动的旋转角度和旋转角速度的函数，是使用由典型的弹簧质量阻尼器元件组成的机械系统建模的。该机器人由两个MR液力离合器，两个感应电动机和一个反馈控制系统组成。在扭矩实验中，分别使用弹簧系数和阻尼系数控制输出扭矩。这些系数的值是通过实验确定的。实验结果表明，该机器人将适合训练物理治疗学生以体验临床情况所需的类似扭矩感觉。

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