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In this paper, a cable actuated elbow rehabilitation robot with integrated active and passive gravity compensation method is proposed. Passive method compensates for the weight of the robot and patient forearm, but full gravity compensation for different patient needs spring stiffness to be adjusted. It seems unreasonable to equip the rehabilitation robot with a different spring for each patient....
This paper introduces a passive shoulder joint tracking device for upper limb rehabilitation robots and performance evaluation of the device. The Gleno-humeral (GH) joint of the shoulder translates in three-dimensional space as the arm moves. However, commercial rehabilitation robots for the upper limb lack in accommodating for the translation of the GH joint. The few robots which can support the...
We present an upper-limb assistive device for the elderly at home. In previous researches, the passive systems were manually adjusted to support arm movement with holding different weights of objects, and the active systems equipped with multiple actuators and sensors were too complex and expensive to use in hospitals and rehabilitation clinics as well as homes. If the assist for the activities of...
Many studies on human support robots have been carried out hitherto. Bilateral control based on 4ch bilateral controller is an efficient method for human support. Bilateral control is a method for realizing transmission of force sensation between master system and slave system. However, in the case of multi-degree of freedom system, containing vertical motion, it is difficult to distinguish reaction...
This paper proposes a new mechanical gravity compensation mechanism suitable for the wearable lower limb rehabilitation system. Although the previous gravity compensation systems can also compensate the gravitational moment exerting on each joint perfectly, they are not sufficiently safe if they are applied to the wearable rehabilitation systems because the springs and wires must be barely stretched...
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