Assisting system of occupational therapy using Rehabilitation Robot based on motion pattern generation of upper limb

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Our aims are to quantitatively evaluate the therapeutic effect of upper limb motor function during rehabilitation training from the standpoint of the establishment of EBM (Evidenced Based Medicine) and to develop a new rehabilitation training support system that enables to feedback a quantitative evaluation of therapeutic effect to subjects.1.Two types of three-dimensional rehabilitation training support systems were developed for occupational therapy of three-dimensional upper limb exercise.(1)One is the training support system using the general purpose robot arm "PA10". In this system a sanding training, which has been widely performed as occupational therapy, was simulated.(2)The other is the training support system with parallel link mechanism, which is superior in portability and affinity for human. This system enables to imitate various kinds of training and to assist training motion of subjects.2.Movement analysis of an upper limb during a sanding training was performed to do feature abstraction for quantitative evaluation of therapeutic effect. First of all movement analysis was performed using a conventional sanding training tool. As a result, the model of motion pattern generation of an upper limb during training was obtained using both neural network and cluster analysis. And next, movement analysis was performed using the simulated sanding training system(1.(2)). This system enables us to measure force/torque exerted by subjects and to easily change the load of resistance. Several features of the upper limb motion during the sanding training were obtained.3.An assisting system for occupational therapy using visual feedback was proposed. This system is equipped with an electromyogram recording system and two CCD cameras for measuring biomedical information, for example active potential of muscles, positions of shoulder, elbow and wrist joints and elbow joint angle. The biomedical information can be displayed to the subject as a visual feedback function.