1P1-E19 3次元反力提示ロボットを用いた上肢リハビリ訓練・評価支援システムの開発 : CI療法における負荷抵抗訓練

概要

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We are developing the training and evaluation support system for upper limbs using 3D force display robot. This robot is introduced to resistance training performed in CI (Constraint-Induced movement) therapy. For this purpose, the resistance force control method is proposed to imitate three types of training programs, namely step mode, slope mode and wall mode, performed by a therapist. And two types of braces are developed for patients. In this system a therapist can make various training trajectories suitable to a patient's conditions by using the teaching and guided function and easily set the training programs' parameters suitable for patients. This system can be expected to reduce therapist's burden in CI therapy.
一般社団法人日本機械学会の論文