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

机译:上肢准3自由度修复系统:其力反馈机制和修复软件

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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.
机译:康复机器人可以有效地定量评估康复治疗。许多研究人员已经开发出了一些触觉设备,并通过临床测试(例如中风后痉挛患者的上肢训练)评估了其触觉效果。几乎所有用于上肢康复的设备的主动运动都只有2自由度(手腕除外)。但是人类的上肢即使在手腕上也可以在3D空间中工作。因此,设计用于3D训练的康复系统非常重要。我们开发了在工作台上具有2-DOF力反馈功能的新型触觉设备,但是可以调整工作台的倾斜度。我们将该系统命名为“上肢准3-4自由度修复系统”或“ PLEMO”。在本文中,我们描述了PLEMO的机理及其上肢康复的软件。

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