Leg-Robot with MR Clutch to Realize Virtual Spastic Movements

In this study, we propose a leg-shaped robot (Leg-Robot) with a magnetorheological fluid clutch (MRFC) to demonstrate virtual haptic of spastic movements of brain-injured patients. The MRFC installed in this system makes it safer than conventional direct-driven robots. At the same time, the MRFC also improves quality of haptic to mimic the human-like reactions. This system is useful to learn diagnosis methods of physical therapy for its trainees. In this article, basic structure and mechanism of the Leg-Robot are explained. Then, control methods and experimental results of three types of spastic movements are described.