Abstract
There has been an increase in the demand for rehabilitation from the circumstance of an aging society. In the future, in order to achieve sufficient rehabilitation, spread of rehabilitation robot is required. Thus, a variety of upper limb rehabilitation system is being researched and developed. We propose a compact support system for upper limb rehabilitation that can carry out rehabilitation easily at low cost. Arm less Mobile Robot is used in the proposed system. Formerly, by testing a prototype of Arm less Mobile Robot, it was confirmed that resistance training is possible on two-dimensional plane. However, it was necessary to improve the operation feeling. So, the new Arm less Mobile Robot which improves the operation feeling was manufactured. The effectiveness of the new Arm less Mobile Robot was verified by subjective evaluation. Furthermore, the trajectory training function required for reaching training was created, and the operation check was performed.
