Basic Study on Rehabilitation Support System for Upper Limbs with Redundant ER Fluid Brake: Redundant-PLEMO-1

Abstract

There are many patients of ataxia: paralysis caused by brain stroke or asynergia. Early detection of functional deterioration and sufficient rehabilitative training are necessary for those patients. The rehabilitation support systems for upper limbs using force display system are expected to quantify the effect of rehabilitative training, and can enhance the motivation of an operator. Especially, the application of a passive-type force display system is desirable for its high safety. However, there are some directions and positions for which it is difficult to display the force in a passive-type force display system using only passive elements. To solve this problem, a method for improvement of controllability using redundant brakes had been suggested. This method made it possible to display more various force power and directions. In this study, we have developed a rehabilitation system for upper limbs with redundant number of brakes: Redundant-PLEMO-1.