Abstract
Rehabilitation for upper limbs is important for elderly people and people who have suffered a stroke and so on. In recent years, the needs for rehabilitation support systems are increasing. Especially, the application of a passive-type force display system is desirable for its high safety. However, there are some directions and link 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 various force directions and various postures of virtual objects. However, the system with redundant brakes has the problem that it often become huge system. Neo-PLEMO can solve a part of this problem
