In this study, we focus on a rehabilitation of human wrist joint whose motion is indispensable in our day life, such as changing clothes etc. A pneumatic parallel manipulator is introduced as a wrist rehabilitation device whose compliant property works as safe function. In generally, rehabilitation is implemented by setting a payload between joint torque and joint angle/angular velocity. We propose a rehabilitation strategy based on not a joint torque but a upper limb's muscle force by detecting it with EMG sensor, which allow us to train a muscle intensively. The mean value of frequency of EMG is also used as an index of fatigue. We propose a real-time fatigue evaluation method during wrist rehabilitation. The validity of the proposed system is confirmed through some experiments.
