Abstract
Until now, some rehabilitation systems for upper limbs were developed and clinical effectiveness was reported in several studies for the aged people or stroke patients. It is important for designing a rehabilitation system which trains in the 3-DOF space because the upper limbs of humans works in 3-DOF space even expect for the wrist. However, there was few rehabilitation system for 3-D training with high safety. We developed the quasi-3-DOF rehabilitation system Hybrid-PLEMO, which has 2-DOF force-feedback function in working plane but its working plane can be adjusted the inclination. Hybrid-PLEMO is a compact, low-cost rehabilitation system for upper limbs with high safety by using ER brakes or ER actuators and can be switched between active type and passive type. Additionally, in Hybrid-PLEMO, we take direct-drive linkage mechanism by adding sub links. In this paper, we describe the mechanism of Hybrid-PLEMO.
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Jin, Y., Kikuchi, T., Furusho, J., Akai, H. (2010). Mechanism Design and Software of Quasi-3-DOF Active-Passive Rehabilitation System for Upper Limbs, "Hybrid-PLEMO". In: Shirase, K., Aoyagi, S. (eds) Service Robotics and Mechatronics. Springer, London. https://doi.org/10.1007/978-1-84882-694-6_15
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DOI: https://doi.org/10.1007/978-1-84882-694-6_15
Publisher Name: Springer, London
Print ISBN: 978-1-84882-693-9
Online ISBN: 978-1-84882-694-6
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