The authors have developed a practical wrist rehabilitation robot for hemiplegic patients. It consists of a mechanical rotation unit, sensor, grip, and computer system. A myoelectric sensor is used to monitor the extensor carpi radialis longus/brevis muscle and flexor carpi radialis muscle activity during training. The training robot can provoke training through myoelectric sensors, a biological signal detector and processor in advance, so that patients can undergo effective training of extention and flexion in an excited condition. In addition, both-wrist system has been developed for mirror effect training, which is the most effective function of the system, so that autonomous training using both wrists is possible. Furthermore, a user-friendly screen interface with easily recognizable touch panels has been developed to give effective training for patients. The developed robot is small size and easy to carry. The developed aspiring interface system is effective to motivate the training of patients. The effectiveness of the robot system has been verified in hospital trails.
The authors have developed wrist rehabilitation robot for hemiplegic patients. The robot is much effective for repetitive rehabilitation, and useful for patients. Mirror effect control system is developed based on the experience that a patient can easily move a limb while moving a limb on the other side. The effectiveness is successfully confirmed by the practical test in the hospital.
The authors developed a rehabilitative training robot which detects and analyzes the intention when a person tries to move a wrist with a biological signal, such as muscle action potential, and makes a wrist movement as one's intention. It consists of a grip for wrists, an actuator, a biological signal primary means, biological signal processing part, and a training controller.
II. SYSTEM
A. System ArchitectureA configuration diagram is shown in Fig. 2. The rehabilitative training robot consists of the following parts;Due to its small, compact size, training can be performed in a small space at a hospital or home.
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