Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device  

作　　者：Yasuko Matsui Tetsuya Akagi Shujiro Dohta Wataru Kobayashi Hiroaki Tamaki 

机构地区：[1]Graduate School of Engineering, Okayama University of Science, Okayama, Japan

出　　处：《Journal of Flow Control, Measurement & Visualization》2018年第2期95-106,共12页流量控制、测量及可视化（英文）

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.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.

关 键 词：FLEXIBLE SPHERICAL ACTUATOR FLEXIBLE PNEUMATIC Cylinder 3D COORDINATE Measuring Device Wire-Type Linear POTENTIOMETER 

分 类 号：R73[医药卫生—肿瘤]