1A1-K06 準3次元上肢運動訓練支援システム「PLEMO-P1」の機構およびソフトウェアの研究開発(医療・福祉ロボティクス・メカトロニクス)

概要

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Rehabilitation robots are effective to evaluate quantitatively the rehabilitative therapies. Some kinds of haptic devices have been developed by many researchers and evaluated its efficiency with clinical test for example upper limb training for the patients with spasticity after stroke. Almost all the devices for upper limb (except for wrists) rehabilitation have only 2-DOF for its working space. But the upper limbs of human work in 3-D space even except for the wrist; therefore it is important to design the rehabilitation system to make possible the movement in 3-D space. We developed new haptic devices which have 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. We named this system "Quasi-3-DOF Rehabilitation System for Upper Limbs" or "PLEMO". In this paper, we describe the mechanism of PLEMO and its software for upper limb rehabilitation.
2007-05-11