A Study on 3-D upper-limbs rehabilitation systems which promote selective independent movement and realize safe resistive guidance

许多人因脑血管意外而瘫痪，也就是所谓的中风。例如，在日本，每年有超过25万人中风，其中许多人瘫痪。在这项研究中，我们开发了仅使用刹车的上肢康复系统。为了促进上肢的选择性自主运动，实现安全的阻力引导，引入了冗余间断量。并对其机理进行了理论分析。

Many people have been paralyzed by cerebral vascular accident, also known as'strokes.' For example, in Japan more than two hundred and fifty thousand people have strokes each year, and many of them are paralyzed. In this study, we developed rehabilitation systems for upper-limbs using only brakes. Redundant number of breaks is introduced for the purpose of promoting selective independent movement of upper-limbs and realizing safe resistive guidance. Moreover, we conducted the theoretical analysis of mechanism.