Conference Proceeding

“Hybrid-PLEMO”, rehabilitation system for upper limbs with active / passive force feedback mode

Osaka University, 2-1 Yamadaoka, Suita, Japan
Conference proceedings: ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference 09/2008; DOI:10.1109/IEMBS.2008.4649575 pp.1973 - 1976 In proceeding of: Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE
Source: IEEE Xplore

ABSTRACT 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 for designing a rehabilitation system which trains in the 3-DOF space because the upper limbs of humans works 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 Hybrid-PLEMO for it can be switched between active type and passive type. Hybrid-PLEMO is a compact, low-cost rehabilitation system for upper limbs with high safety by using ER brakes or ER actuators. Additionally, in Hybrid-PLEMO, we take direct-drive linkage mechanism by adding sub links. In this paper, we describe the mechanism and haptic control of Hybrid-PLEMO.

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Keywords

3-DOF space
 
active type
 
aged people
 
clinical effectiveness
 
direct-drive linkage mechanism
 
inclination
 
low-cost rehabilitation system
 
passive type
 
quasi 3-DOF rehabilitation system
 
rehabilitation robots
 
rehabilitation system
 
sub links
 
trains
 
upper limbs
 
working plane