Development of a rehabilitative training robot for both wrists

The authors developed a rehabilitative training robot which detects and analyzes the intention when a person tries to move a wrist with a biological signal, such as muscle action potential, and makes a wrist movement as one´s intention. It consists of a grip for wrists, an actuator, a biological signal primary means, biological signal processing part, and a training controller. Due to its small, compact size, training can be performed in a small space at a hospital or home. The new system which can conduct both wrists training is successfully developed for practical uses.