“Hybrid-PLEMO“, rehabilitation system for upper limbs with active / passive force feedback, and its application for facilitation techniques

摘要

Many kinds of actuator-based (active type) haptic devices have developed and utilized as rehabilitation robots. These systems have great advantages for rehabilitative activities, for example assistive forces and so on. However, from the view point of safety, we have a room to consider utilizing brake-based (passive type) haptic devices as rehabilitation-tools. The effects and roles of active / passive force feedback for rehabilitative effects have not been clarified yet. Since a few years ago, we have developed an active / passive switchable rehabilitation system for upper limbs (Hybrid-PLEMO) to address these questions. In this paper, we describe force-feedback mechanism of the hybrid-PLEMO. Then, we suggest a new approach to facilitate a human reaching motion with our system. As a specific method, we decided to utilize an oscillatory stimulation. We discuss the role and limitation of the active / passive oscillatory stimulation as a facilitation force for human reaching motion.