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Generally, many types of medical equipments, especially heavy equipments, have casters for their easy treatment or movement. However, in the case of earthquakes, if casters are free, large movement is happened and causes a disconnection of the connecting point or collision to the other equipments. On the contrary, if casters are locked, displacement of the equipment becomes small but large response acceleration causes turnover or falling of the installed equipments. In this paper, seismic response mitigation strategies of the wagon with casters were investigated. Instantaneous Optimal Control with ER brake was proposed for controller design. And the effectiveness was confirmed in simulation and shaking experiment. Torque limiting control and gain scheduling were investigated to keep response displacement short under the condition that response acceleration was also restricted.

Seismic Response Suppression of Caster Wagon by ER Brake