Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of a 3-D Rehabilitation Robot System for Upper Extremities

상지 재활을 위한 3-D 로봇 시스템의 개발

  • Shin, Kyu-Hyeon (Department of Mechanical and Automotive Engineering, Graduate School, Ulsan Univ.) ;
  • Lee, Soo-Han (School of Mechanical and Automotive Engineering, Ulsan Univ.)
  • 신규현 (울산대학교 대학원 기계자동차공학과) ;
  • 이수한 (울산대학교 기계자동차공학부)
  • Published : 2009.04.01
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Abstract

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

Keywords

References

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