Abstract
In this study, we propose a leg-robot with a Compact MR Fluid Clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, we especially focus on ankle clonus, which is one of the abnormal movement usually occurred in ankle joints of brain-injured patients. We suggest new method to demonstrate haptics of the ankle clonus with this system. We also confirmed its effectiveness for learning of the test skill by using this system.
