2P1-E02 Ankle-Foot Orthosis Intelligently Controlled by Shear-Type Compact MR Brake : Reexamination of Control System and Development of New Brake for Lightweight

Abstract

MR fluid (Magneto-Rheological fluid) is a kind of functional fluid. Until now, we have developed Shear-type Compact MR Brake (SCMR-Brake) applying shear mode of MR brake. To employ multi-layered and minute-gap structure, we have developed SCMR-Brakes. By using this brake on the part of ankle torque control unit, we have developed Controllable Ankle-Foot Orthosis, and controlled the ankle according to walking phases. But our developed SCMR-Brake was heavy and slow response time as problem. In this study, we developed more light and compact SCMR-Brake. Furthermore, we had a review of control system to control brake torque for early stance phase.