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A target of this study is to rehabilitate an elbow flexing contracture patient caused by a brain infarction and so on. In rehabilitation for the patient, a trainer flexes the patient's elbow by a hand until the patient feels a little pain, and then the trainer keeps the applied force for a while. In this training, it is important that the trainer regulates the applied force depending on the patient's...
After stroke, arm function can be limited by a reduction in the selectivity of movements, due to involuntary coupling of shoulder abduction and elbow flexion, limiting the ability to reach. Gravity compensation of the arm reduces the required active shoulder abduction torques, which results in a larger range of motion instantaneously. Integration of a motivating rehabilitation game in the training...
In this paper, a teleoperation mechanism capable of providing force feedback by means of adjusting the system's impedance is proposed for a master-slave telerehabilitation robot system. The stability of the teleoperation with haptic feedback via a time-delay communication environment is mathematically proved. By using the proposed teleoperation mechanism, the telerehabilitation system can work theoretically...
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