Development of a 6-DOF Rehabilitation Robot and its Software for Clinical Evaluation Based on Virtual Reality

In recent years, the needs for rehabilitation support systems are increasing, basing on robot and virtual reality technology. We have developed a 6-DOF rehabilitation support system for upper limbs including wrists, named ROBOTHERAPIST. This system can measure positions and postures of an operator´s hand, and generate a feedback force for their upper limbs and wrists. Considered with the safety of the rehabilitation robot, ER (electrorheological) actuator has been designed by using ER fluid. This paper outlines the mechanical design and control system of ROBOTHERAPIST. And application software of physical therapy for clinical evaluation, based on proprioceptive neuromuscular facilitation (PNF) techniques, is also introduced in this paper.