Quasi-3-DOF Rehabilitation System for Upper Limbs: Its Force-Feedback Mechanism and Software for Rehabilitation
ABSTRACT 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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ABSTRACT: We have developed a three-dimensional force display robot (3D robot) to discover and embody needs in rehabilitation site. Then we have exchanged opinions with therapists by using the 3D robot together in rehabilitation site. From a therapist' needs we have developed repeated resistance training system by using the 3D robot as one of the application of the 3D robot. On the basis of the results we have developed a simplified repeated resistance training system equipped with a user interface for easy operation for therapists. Moreover, we have developed a brace for fixation as the attachment between the training system and the patient's arm. In this paper, we perform the functional evaluation of the simplified repeated resistance training system and the brace in the clinical site. These results are based on the opinions from the therapist and the patient. Moreover, we verify the therapeutic effects of the repeated resistance training using the simplified system for a hemiplegic stroke patient. The AROMs of pronation and supination of the patient were improved after repeated resistance training using the simplified system.Control, Automation and Systems (ICCAS), 2012 12th International Conference on; 01/2012
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ABSTRACT: The paper introduces an active variable stiffness exoskeleton robotic system (AVSER) with the active variable stiffness elastic actuator (AVSEA), which improves the safety for human-robot interaction and produces unique adjustable stiffness capacity to meet the demand for safe active-passive elbow rehabilitation. The AVSEA consists of two DC-motors. One is used to control the position of the joint, and the other is used to adjust the stiffness of the system. The stiffness is generated by a leaf spring. By shortening the effective length of the leaf spring, the AVSEA is able to reduce the stiffness automatically, which makes the AVSER from active (assistive) motion to passive (resistance) rehabilitation during the process of therapy. In the paper, the mechanical design, modeling, and control algorithms are described in details. The capacity of the proposed AVSER with electromyogram (EMG) signal feedback is verified by rehabilitation exercise experiments for the subject to demonstrate the efficacy of the developed system.Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on; 01/2012
Conference Paper: HELIOS: The human machine interface for MARSE robot[Show abstract] [Hide abstract]
ABSTRACT: This paper presents preliminary results of the HELIOS software, a human machine interface developed to drive a wearable robot (MARSE) to provide rehabilitation therapy to the patients having impaired upper limb functions. The software was designed to increase the attractiveness of using the MARSE with a simple interface, which is easy to handle and allows visualization of a set of practical exercises used by clinicians/therapists. To evaluate the usability of the HELIOS experiments involving healthy male subjects were performed with the MARSE robot.Human System Interaction (HSI), 2013 The 6th International Conference on; 01/2013