3-D/Quasi-3-D rehabilitation systems for upper limbs using ER actuators with high safety

Rehabilitation for upper limbs is important for aged people, stroked patients and so on. In recent years, the needs for rehabilitation support systems are increasing, which use robot technology and virtual reality technology. Applying these technologies make efficient rehabilitation possible. But there was few rehabilitation support robot system for 3-D training with high safety. Therefore we have developed three different rehabilitation machines for upper limbs with high safety: "EMUL", "Robotherapist" and "PLEMO". In this paper, we introduce the recent researches of each robot.