In post stroke rehabilitation settings, reach-to-grasp tasks are one of the fundamental training for upper arm treatment. For reach-to-grasp tasks, authors thought that a cooperating motion of whole body including upper arm, scapula stability, trunk motion and pelvis control is important to exert effective outcome in activities of daily livings. From this viewpoint, we are developing a robotic therapeutic orthosis for scapula, trunk and pelvis motion for post stroke rehabilitation. In this report, cooperating motion of upper body in seating reach-to-grasp tasks to a plane was measured for four physically healthy persons using the robotic orthosis. Analysis of this motion will be reported mainly on cooperating body motion.
