A 3-D exercise machine for upper-limb rehabilitation using ER actuators with high safety

We have joined a project managed by 5-year NEDO (New Energy and Industrial Technology Development Organization as a semi-governmental organization under the Ministry of Economy, Trade and Industry of Japan) Project, "Rehabilitation System for the Upper and Lower Limbs", and developed a 3-D exercise machine for upper limbs (EMUL) using ER actuators. New training methods and exercises for upper limbs rehabilitation are made possible by application of robotics and virtual reality technology. This paper deals with the development of EMUL. We also present the development of software for motion exercise training and some results of clinical evaluation. Moreover, it is discussed how ER actuators ensure the mechanical safety