Development of portable rehabilitation device driven by low-cost servo valve using tap water

Hideyuki Obayashi, Tetsuya Akagi, Shujiro Dohta, Wataru Kobayashi, Yasuko Matsui, So Shimooka, Takashi Shinohara, Mohd Aliff

    Research output: Contribution to journalArticlepeer-review

    3 Citations (Scopus)


    Wearable driving systems for labor assistance and rehabilitation, such as power assist suits, have received much attentions and many studies have been done actively. In this study, the final target is to develop a low-cost home rehabilitation device driven by fluidic actuators and low-cost control valves. In the device, the size and cost of control valves become serious concerns. In the previous study, to realize a home rehabilitation device, the flexible spherical actuator that was able to give passive exercise to patients was developed. To drive the actuator, control valves are required. However, a servo valve that can control flow rate in analogue way is very expensive compared with other elements in the pneumatic driving system. Therefore, a low-cost servo valve using buckled tubes was proposed and tested. This valve can control both gas and liquid flow. In this paper, the development of the spherical actuator driven by servo valves using buckled tubes is described as a low-cost home rehabilitation device. The construction and operating principle of the spherical actuator and the servo valve using buckled tube is also described. In addition, the position control using the tested devices is carried out.

    Original languageEnglish
    Pages (from-to)353-359
    Number of pages7
    JournalInternational Journal of Mechanical Engineering and Robotics Research
    Issue number3
    Publication statusPublished - 2020


    • 4-port type servo valve
    • Flexible spherical actuator
    • Portable rehabilitation device
    • Servo valve using buckled tubes
    • Tap water drive system

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Mechanical Engineering
    • Artificial Intelligence


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