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A Study on the Multi-Purpose Rehabilitation System for the Upper Limb Using a Robot Manipulator  

원주연 (한양대학교 대학원 메카트로닉스공학과)
심형준 (한양대학교 메카트로닉스공학과)
박범석 (한양대학교 대학원 정밀기계공학과)
한창수 (한양대학교 기계산업공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.11, 2003 , pp. 171-179 More about this Journal
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
Robot; Rehabilitation; Master-slave system;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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