Development of a 6-DOF Rehabilitation Robot and Its Software for Clinical Evaluation Based on Virtual Reality
In recent years, the needs for rehabilitation support systems are increasing, basing on robot and virtual reality technology. We have developed a 6-DOF rehabilitation support system for upper limbs including wrists, named ROBOTHERAPIST. This system can measure positions and postures of an operators hand, and generate a feedback force for their upper limbs and wrists. Considered with the safety of the rehabilitation robot, ER (electrorheological) actuator has been designed by using ER fluid. This paper outlines the mechanical design and control system of ROBOTHERAPIST. And application software of physical therapy for clinical evaluation, based on Proprioceptive Neuromuscular Facilitation (PNF) techniques, is also introduced in this paper.
Takehito Kikuchi Junji Furusho Kunihiko Oda Ying Jin Chengqiu Li Tomoko Morita Naoto Shichi Yuki Ohyama Akio Inoue
Osaka University, Osaka, Japan Osaka Electro-Communication University, Osaka, Japan ER tec Co., Ltd., Osaka, Japan
国际会议
北京
英文
1306-1309
2007-05-23（万方平台首次上网日期，不代表论文的发表时间）