Comparative Investigation of Configuration of Brakes in Passive-type Force Display System

In recent years, force display systems that supports rehabilitation of paralyzed patients have been developed and the effectiveness has been clarified. Force displays are classified into passive type and active type. A passive-type system using brakes has less risk of harming a user compared with an active-type system using motors. Therefore, passivetype system is safe and low cost, and can be used at home. In this paper, we develop a planar 2-DOF passive-type force display system with redundant powder brakes whose characteristics are experimentally obtained. Four configurations of brakes are illustrated. The tracing experiments are conducted to clarify the difference of haptic performance of them.