A 3-D Rehabilitation System for Upper Limbs "EMUL", and a 6-DOF Rehabilitation System "Robotherapist" and Other Rehabilitation Systems with High Safety

Furusho, Junji; Kikuchi, Takehito

doi:10.5772/5158

Cited by 15 publications

(8 citation statements)

References 16 publications

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“…In a current research, we developed 3-DOF rehabilitation system for upper limb "EMUL" [5] and conducted clinical test with several kinds of video game [6], [7]. "EMUL" adopted to use ER actuators [8] and clutch mechanism for its actuation part.…”

Section: Introductionmentioning

confidence: 99%

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

Kikuchi

Fukushima

et al. 2007

2007 IEEE 10th International Conference on Rehabilitation Robotics

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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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Section: Introductionmentioning

confidence: 99%

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

Kikuchi

Fukushima

et al. 2007

2007 IEEE 10th International Conference on Rehabilitation Robotics

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“…We also confirmed its effectiveness for learning the test skill by using this system. clutch [11,12] between a user (e.g., therapist) and an actuator. This clutch-driven mechanism has several merits when compared with the direct-drive mechanism:…”

Section: Introductionmentioning

confidence: 99%

Leg-Robot for Demonstration of Spastic Movements of Brain-Injured Patients with Compact Magnetorheological Fluid Clutch

2010

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In this study, we propose a leg-shaped robot (Leg-Robot) with a compact magnetorheological fluid clutch to demonstrate several kinds of haptic control of abnormal movements of brain-injured patients. This system can be used in the practical training for trainees of physical therapies (physiotherapists). In this paper, we especially focus on ankle clonus, which is one of the abnormal movements usually arising after stroke. We suggest a control method to demonstrate haptics of the ankle clonus. We also confirmed its effectiveness for learning of the test skill.

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“…In our researches, clutch-type actuators with functional fluids have been adopted for toque control of our rehabilitation system [4]. A conceptual diagram of ER fluid clutch actuator (ER actuator) is shown in Fig.1.…”

Section: Introductionmentioning

confidence: 99%

“…A conceptual diagram of ER fluid clutch actuator (ER actuator) is shown in Fig.1. Basic concept for safety with this clutch-type actuator was reported [4].…”

Section: Introductionmentioning

confidence: 99%

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

Kikuchi

Jin

Fukushima

et al. 2008

2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

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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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A 3-D Rehabilitation System for Upper Limbs "EMUL", and a 6-DOF Rehabilitation System "Robotherapist" and Other Rehabilitation Systems with High Safety

Cited by 15 publications

References 16 publications

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

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

Leg-Robot for Demonstration of Spastic Movements of Brain-Injured Patients with Compact Magnetorheological Fluid Clutch

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

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A 3-D Rehabilitation System for Upper Limbs "EMUL", and a 6-DOF Rehabilitation System "Robotherapist" and Other Rehabilitation Systems with High Safety

Cited by 15 publications

References 16 publications

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

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

Leg-Robot for Demonstration of Spastic Movements of Brain-Injured Patients with Compact Magnetorheological Fluid Clutch

&#x201C;Hybrid-PLEMO&#x201D;, rehabilitation system for upper limbs with active / passive force feedback mode

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