With increasing demands for rehabilitation, the need for physical therapy robots is also increasing. This paper proposes the construction of a rehabilitation database inspired with medical cloud technologies. We discuss the possibility of establishing a new validation methodology by generating a database based on the data collected using rehabilitation equipment. In this research, data was obtained by rehabilitation equipment and statistical processing was applied to the data to investigate an example of a validation method. The experimental results suggest that improvement of tracking property of subjects is much larger than improvement of maneuverability.

This study presents the guidance control provided by a rehabilitation support robot that is intended to assist with the movement of a patient's arm. The guidance control is accomplished using a stiffness ellipse. The characteristic that the direction of force acted upon changes depending on the settings of the stiffness ellipse is used for guiding the movement. The system developed in this study adjusts the stiffness ellipse by using a musculoskeletal manipulator with biarticular mechanism. It was verified that the movement of a subject could be guided by changing the stiffness ellipse and assisting the movement. The experimental results demonstrate that it is possible to guide the movement without any dependency on the control bandwidth of the actuator.

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