Title :
The therapeutic exercise for arm assisted by 6-DOF manipulator
Author :
Usui, Taiga ; Kato, Norihiko ; Nomura, Yoshihiko ; Matsui, Hirokazu
Author_Institution :
Mie Univ., Japan
Abstract :
Aiming at the reduction of therapist burden in rehabilitation exercises, the authors have developed a technology to make a 6-DOF manipulator be an assistive worker in rehabilitation exercises. The paper described some key issues for the system: (1) methods to estimate physical parameters were explained, (2) a method to implement the four kinds of kinesitherapy exercises.
Keywords :
force control; manipulators; medical robotics; parameter estimation; patient rehabilitation; 6 DOF manipulator; arm therapeutic exercise; assistive worker; kinesitherapy exercises; rehabilitation exercises; Concrete; Erbium; Impedance; Manipulators; Optical wavelength conversion; Rehabilitation robotics; Robot sensing systems; Torque; Trajectory; Viscosity;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195528
