Conference Paper

Quasi-3-DOF Rehabilitation System for Upper Limbs: Its Force-Feedback Mechanism and Software for Rehabilitation

Osaka Univ., Osaka
DOI: 10.1109/ICORR.2007.4428401 Conference: Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on
Source: IEEE Xplore


Rehabilitation robots are effective to evaluate quantitatively rehabilitative therapies. Some kinds of haptic devices have been developed by many researchers and evaluated its efficiency with clinical tests for example upper limb training for patients with spasticity after stroke. Almost all the devices for upper limb rehabilitation have only 2-DOF for its active motion (except for wrists). But the upper limb of human works in 3-D space even except for the wrist; therefore designing a rehabilitation system for 3-D training is important. We developed new" haptic devices which have 2-DOF force-feedback function on a worktable but the inclination of the worktable can be adjusted. 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 the upper limb rehabilitation.

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    • "For this reason many rehabilitation support systems and robots have been developed for upper limbs (Kerbs et al., 1998, Reinkensmeyer, et al., 2000, Jezernik et al., 2003, Colombo et al., 2005, Furusho et al., 2005, Furusho et al., 2007, Kikuchi et al., 2007, Beer et al., 2008). The advantage using the robots and the systems are that the patients can perform effective rehabilitation trainings and the therapeutic effect can be evaluated quantitatively. "
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    ABSTRACT: In order to evaluate the therapeutic effects of sanding training, we proposed three quantitative evaluation methods for the achievement level, the cooperative movement of the healthy and paralyzed arms and the cooperative movement of the upper arm and forearm. The validities of the proposed methods are confirmed by applying the patients' data to them. Moreover, the relationships between the evaluation results and the Brunnstrom stage were examined. It
    Rehabilitation Engineering, 12/2009; , ISBN: 978-953-307-023-0
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    • "Some of them are used to perform motor function exercises of lower limbs so that a subject is able to walk by himself/herself[1], [2]. Some of them are used for the occupational therapy of upper limb motor function[3], [4], [5], [6], [7], [8], [9], [10]. On the other hand, in the sites of occupational therapy facilities, simple training tools, such as sanding boards, ropes, ring toss and peg boards are widely used. "
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    ABSTRACT: This paper we propose a new rehabilitation training support system of upper limbs with the teaching/training function for personalized rehabilitation. The proposed teaching/training function enables the therapists to easily make not only training trajectories but also training programs to suit the individual needs of the patients. It is shown in this paper that three kinds of training programs requested by therapists can be made by using the teaching/training function. The algorithms of the teaching/training function are based on impedance control and data preprocessing. The availability of the teaching/training function is verified experimentally.
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    ABSTRACT: High safety rehabilitation systems using functional fluid were introduced. Two units of EMUL were made in the 5-year NEDO project, and they were transferred from NEDO to Furusho Laboratory of Osaka University. We continue clinical evaluation of 3-D rehabilitation system and quasi-3-DOF rehabilitation system by using EMUL, Robotherapist and PLEMO. We have been studying rehabilitation robotics mainly from the standpoint of mechatronics and virtual reality. Now, we started to study it also from the standpoint of physical therapy and motion control of human beings.
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