Development of High Functional Wrist Rehabilitation Device Using Pneumatic Parallel Manipulator

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We developed a wrist rehabilitation device using a pneumatic parallel manipulator. In generally, wrist rehabilitation is implemented by setting a payload between wrist torque and wrist joint angle/angular velocity. In this study, we proposed a rehabilitation with payload between muscle force detected by EMG sensor and joint angle/angular velocity. Using the proposed method, we can train the muscle selectively and intentionally. EMG signal can be also used as an index of fatigue. The validities of the proposed method are confirmed through some experiments.