Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Study on the Multi-Purpose Rehabilitation System for the Upper Limb Using a Robot Manipulator

로봇을 이용한 다기능 상지 재활 시스템에 관한 연구

  • 원주연 (한양대학교 대학원 메카트로닉스공학과) ;
  • 심형준 (한양대학교 메카트로닉스공학과) ;
  • 박범석 (한양대학교 대학원 정밀기계공학과) ;
  • 한창수 (한양대학교 기계산업공학부)
  • Published : 2003.11.01
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Abstract

This paper presents a rehabilitation exercise system which utilizes a 6 DOF robot as a motion generator. This system was proposed for a stroke patient or a patient who has hemiplegia. A master-slave system was designed to exercise either paralysis or abnormal limb by using normal limb motion. The study on the human body was applied to calculate the motion range of elbows and shoulders. In addition, a force-torque sensor was applied to the slave robot to estimate the rehabilitation extent of the patient. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot. the patients could exercise by themselves without assistance. In conclusion, the proposed system was verified by computer simulations and system experiment.

Keywords

References

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