Simulation of clonic movement with leg-robot driven by Compact MR Fluid Clutch

In this study, we propose a leg-robot with a Compact MR Fluid Clutch (CMRFC) to demonstrate haptic control of abnormal spastic movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapy. In this paper, basic structure and characteristics of the leg-robot are explained. Then, we suggest a control method to reproduce clonus-like movements, which is based on the basic knowledge of neuronal physiology.