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We have developed the rehabilitation system (BRMS, Bio-Responsive Motion System) for recovery of motion ability of the lower extremities of stroke patients. This project is supported by NEDO (New Energy and Industrial technology Development Organization) from 1999 to 2003. The BRMS constitutes a total exercise machine for patients with stroke. One of the target technologies is the 'gait simulator', which allows the patients to regain gait function by the exercise of both extremities with assistance for their voluntary muscle power and coordination skill. The BRMS's concept is that spastic patients move along walking pattern based on gait analysis, and the system evaluates the gait pattern, applying assisting motion and biofeedback. As preliminary experimental results on BRMS, joint angles, joint torques, floor reaction forces, and surface integrated electromyogram on the BRMS in one normal subject, are compared to the data in the gait pattern with standing position in normal subject.

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We have proposed a system which enables an operator to feel himself/herself touching an arbitrary surface with edges in virtual environment. This system represents the shape of an object in virtual environment by locally constructing its shape around his/her finger tip with Shape Approximation Device(SAD), of which each surface has convex and concave edges.In this paper we propose a shape model of an object in virtual environment for this local construction of its shape and an algorythm of shape representation based on this model. We design the shape model so that it is possible to construct the represented shape including curved surfaces and curved edges in real time. In this model an object in virtual environment is divided into quadrangles called patches, and the shape on each patch is described using Bezier surface, which is suitable to describe a complicated shape. We realized a hardware system which could represent a shape which included curved surfaces and curved edges in real time.

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