抄録
The final aim of this research is to develop a quantitative evaluation system of shoulder joint function using the three-dimensional force display robot. In this paper, we carried out two experiments to develop quantitative evaluation methods of shoulder joint function. In the first experiment, we analyzed therapist's motions during the shoulder joint function tests. As a result, we proposed estimation algorithm of the rotational angle and the velocity of upper limb from the subject's force during the tests. And we verified the effectiveness of the algorithm. In the second experiment, we measured subject's forces during the tests. As a result, we confirmed that glenohumeral joint laxity is correlated with the ratios of the right to the left subject's force in the initial position during abduction, external rotation, and horizontal abduction motion. Moreover we developed the cooperativeness evaluation methods on the basis of the skillful therapist's testing motions.
