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In this paper, we propose DULEX-II, a wearable hand robot capable of assisting stroke survivors with hand function rehabilitation. DULEX-II is a robotic orthosis that has three degrees of freedom for assisting motions of the wrist, and all fingers, excluding the thumb. Each exoskeleton mechanism enclosing the wrist and fingers is designed to fit the user's motion trajectory. DULEX-II is actuated by...
Active exercise is one of effective therapy in rehabilitation. In this paper an exoskeleton device for active wrist rehabilitation is proposed. A force model for the wrist mechanism of DULEX-II [7] is presented, and its control system for active exercise is designed based on the force model. In experiments the performance of the force control system was verified. From the results we show a possibility...
Electric lifting chair is a typical assistive product to aid for standing up and sitting down for persons with disability, and it is particularly useful for the elderly persons whose muscular system is weakened by degenerative joint disease. This paper describes a biomechanical assessment of electric lifting chair with hip-up function. In experiments we measured 3D motion data and electromyogram (EMG)...
In this paper, we propose the assist chair for standing and sitting that composes the lifting mechanism for low seat. And We developed the entrapment sensing mechanism to consider the safety of lifting mechanism. And We designed the arm-rest to be controllable the 90[deg]. Lifting function and entrapment sensing mechanism are controlled assistive-control system. In experimental result show that the...
This paper proposes a data glove for a rehabilitation robot interface for the upper-extremity paralysis. The designed data glove uses seven flexible sensors to measure the flexion angles of fingers and wrist. We verified the performance of the data glove using a 3D graphic interface from we developed. From experimental results, we show the proposed data glove is feasible to sense the hand motions...
This paper proposes a design of seat mechanism for a wheelchair to be controllable multi-postures such as standing, reclining, tilting and elevation. The seat is designed based on a link mechanism including linear actuator, and its kinematics analysis is also presented. To control the multi-postures, we design a PID-based position and speed controller, and a motion planner to generate an available...
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