Leg-robot with MR clutch to realize virtual spastic movements

In this study, we propose a leg-robot with an MR clutch to realize virtual haptic control for spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. Additionally, we will study to figure out the physiological mechanism of spastic movements of human with the process to simulate patientlike spastic motion by this robot. In this paper, basic structure and mechanism of the leg-robot with the MR clutch are explained. Finally, experimental results of some kinds of haptic control for spastic movements are described.