Abstract
Until now, some rehabilitation robot systems for upper limbs were developed by many researchers. It is important for designing a rehabilitation system, which trains in the 3-DOF spaces because the upper limbs of human's works in 3-DOF spaces even expect for the wrist. However, there was few rehabilitation support robot system for 3-D training with high safety. Therefore, we developed the quasi-3-DOF rehabilitation system; PLEMO. The quasi-3-DOF rehabilitation system has 2-DOF force-feedback function in working plane but the angle of the working plane can be adjusted. PLEMO system does in the middle of clinical evaluation. The development objective and mechanism of new handle, which was developed to improve the efficacy of the training, are reported and compared with the performance of the former mechanism; moreover, software compliant with new handle is presented and its training efficacy to stroke patients is discussed.
