Investigation of human mirror-image for bilateral movement training of upper limb rehabilitation

Bilateral movement training for the upper extremity rehabilitation is attracting a lot of attention. In this paper, we investigated the relationship between left and right of the human body system(human mirror-image) using robotic force field for planning effective bimanual movement training of upper limb rehabilitation. We use two robot manipulators and force/torque sensors to realize the force field, and we verify that the bimanual movement is better than unimanual, and how coordinate system of task and force field affect to the bimanual movement through the experiment.