TY - GEN
T1 - A performance evaluation method of a passive type force display and rehabilitation system with redundant brakes
AU - Furusho, Junji
AU - Jin, Ying
AU - Oda, Kunihiko
AU - Haraguchi, Makoto
AU - Kikichi, Takehito
AU - Akai, Hiroki
PY - 2009
Y1 - 2009
N2 - We developed a compact and low-cost quasi-3-DOF rehabilitation system "Hybrid-PLEMO" for upper limbs of stroke patients. Hybrid-PLEMO has 2-DOF force feedback function in working plane, its working plane can be adjusted the inclination, and it can be switched between active type and passive type. However, there are some directions and link positions which are difficult to display the force when Hybrid-PLEMO works at passive type. Redundant brakes method had been suggested to made it possible to display various force directions and various postures of virtual objects by the improvement of the controllability. In this paper, a novel method is presented for performance evaluation of a passive-type force display system with redundant brakes. Using this method, we evaluate the performance of a 2-DOF passive-type force display system with and without redundant brakes, and draw a conclusion that it is good to add redundant brakes to the passive-type force display and rehabilitation system.
AB - We developed a compact and low-cost quasi-3-DOF rehabilitation system "Hybrid-PLEMO" for upper limbs of stroke patients. Hybrid-PLEMO has 2-DOF force feedback function in working plane, its working plane can be adjusted the inclination, and it can be switched between active type and passive type. However, there are some directions and link positions which are difficult to display the force when Hybrid-PLEMO works at passive type. Redundant brakes method had been suggested to made it possible to display various force directions and various postures of virtual objects by the improvement of the controllability. In this paper, a novel method is presented for performance evaluation of a passive-type force display system with redundant brakes. Using this method, we evaluate the performance of a 2-DOF passive-type force display system with and without redundant brakes, and draw a conclusion that it is good to add redundant brakes to the passive-type force display and rehabilitation system.
UR - http://www.scopus.com/inward/record.url?scp=70449393424&partnerID=8YFLogxK
U2 - 10.1109/ICORR.2009.5209504
DO - 10.1109/ICORR.2009.5209504
M3 - Conference contribution
AN - SCOPUS:70449393424
SN - 9781424437894
T3 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
SP - 950
EP - 955
BT - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
T2 - 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009
Y2 - 23 June 2009 through 26 June 2009
ER -