Studies reporting rehabilitation therapy using robots began in the 1980s and have increased since 2000s. In Japan, against the background of an aging society, the use of imported robots for research purposes began, followed by the development of domestic products and their clinical application.
Robots used by therapists for training are called training assist robots. In order to understand the wide variety of robots, it is helpful to divide them into the “structure”, the “motion”, and the “movement”.
The “structure” of the upper limb is the end effector type in which the joints are moved with the peripheral side fixed, the “motion” is the single joint functional training of dexterity movements such as reaching movements, and the “movement” is the three–dimensional movement of the shoulder and elbow forearm joints and one–dimensional movement of the single joint.
The “structure” of the lower limb is the exoskeletal type in which joint axes are made with an exoskeleton to move the joints, “motion” is gait, and “movement” is mostly 2–dimensional movements of the hip, knee, and ankle joints.
Training assist robots are usually used in combination with conventional therapy. Evidence of their effectiveness has been steadily accumulating, and they might be effective in improving upper limb function, dexterity, and ADL. It is expected to improve the level of walking independence for those who are unable to walk within 3 months of onset of illness.
Training assist robots are characterized by their ability to safely perform the uniform repetitive movements required in rehabilitation therapy, with a low burden on the therapist, a sufficient amount of training, and the ability to provide evaluation and feedback. However, they play only an auxiliary role in rehabilitation therapy, and their weaknesses are that they take time to set up and prepare, and that they have no applications other than setting up.
Recently, hand training assist robots have been developed, which can perform gripping and pinching movements with a glove attached. The direction of future evolution is likely to be divided into two directions : one is to provide large, unitized, safe treatment that can accommodate severe disabilities with fine–tuning by taking advantage of its multiple functions, and the other is to provide compact, lightweight, fixed treatment in various settings, including at home, by taking advantage of its portability.
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