1A2-F03 実用化に向けた上肢リハビリ支援システムPLEMO-P4の研究開発

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Several rehabilitation robots for upper limbs have been proposed so far, and clinical effectiveness was reported in several studies for the aged people or patients with stroke. However most of them have only 2-DOF for its active motion. It is important to design a rehabilitation system which trains in the 3-DOF space because the upper limbs of human work in 3-DOF space even expect for the wrist. We developed the quasi 3-DOF rehabilitation system which has 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. And we named it PLEMO. In our current study, we've developed PLEMO-P-series (PLEMO-P1, PLEMO-P2, PLEMO-P3). In this study, we've developed new upper rehabilitation support system PLEMO-P4 which will come into practical use in some rehabilitation clinics and healthcare facilities for the elderly. In this paper, we describe the mechanism of PLEMO-P4 and a new application software.
一般社団法人日本機械学会の論文