力覚提示グローブに用いるバルーンアクチュエータの内部構造の最適化設計

抄録

Force-display devices can be classified into two types according to the difference in the method of force generation: active type and passive type. Active type devices use actuators such as motors and pneumatic artificial muscles, and are capable of active force presentation. However, pneumatic artificial muscles have limitations pressure propagation speed due to air compressibility, and so have difficulty to present force sensation at high speed. Passive devices cannot present the force sensation acting during stoppage. The purpose of this study is development of a hybrid force-display glove that uses a pneumatic actuator as the active element and a brake made of functional material as the passive element, and to compensate for the shortcomings of both mechanisms to realize effective rehabilitation for hemiplegia of the hand, a typical sequela of rheumatism and stroke. This paper describes the optimization of the internal structure of the pneumatic balloon actuator introducing an evaluation index considering time response performance.