Development of Simple 3D Measuring Device Using Low-Cost Wire Type Linear Potentiometer for Flexible Spherical Actuator

Development of Tetrahedral Type Rehabilitation Device Using Flexible Pneumatic Actuators

“…5 shows the construction of the tetrahedral structure type rehabilitation device that can change the coordinate of holding position. The device consists of a tetrahedral shaped frame, four flexible extension type actuators, and four wire type linear potentiometers [9] and a plastic ball with an outer a diameter of 100 mm. The frame consists of six aluminum pipes with a length of 1000 mm and an outer diameter of 15 mm and four plastic end connectors of pipes.…”

“…Compared with the device using ordinal rigid actuators, the proposed device has advantage that the devise is safe to use as a rehabilitation device because of small mass and flexibility of extension type actuators. The position control system using the proposed device with low-cost embedded controller and wire type linear potentiometers [9] is also developed. In addition, the position control using the tested devices is carried out.…”

Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device

“…However, in order to apply the spherical actuator to rehabilitation devices, it is required to measure not only the displacement of the flexible pneumatic cylinder but also the relative coordinates between both handling stages because of the flexibility of the spherical actuator. Therefore, a low-cost 3D coordinate measuring device that can be applied to rehabilitation devices was proposed and tested [11]. Figure 7 shows a 3D coordinate measuring device using the three improved…”

“…Moreover, the relative position is used as a feedback signal for the attitude control of the device. In this study, to measure the relative position between both handling stages in order to maintain the safety and attitude control of the device, a 3D coordinate measuring device using three wire-type linear potentiometers and an embedded controller was proposed and tested [11]. In this paper, a spherical actuator with a built-in 3D coordinate measuring device is described.…”