On robotic rehabilitation of human dual arms' coordinative function

摘要

Upper limbs cooperative movement functions are very important for us in our everyday life. Due to many kinds of brain diseases, people usually reduced or even lost their half side of body's motion activities, which made it difficult to realize cooperative movements between right and left limbs and in turn greatly reduced their quality of live. In this research, we developed a novel robot system which integrates with virtual reality technologies to perform rehabilitation of upper limbs' cooperative movement functions, such as to realize simultaneous upper limbs' motions or to cooperatively catch and setting a common object in a 3 D work space. Three types of rehabilitation movements are designed so that the subject can train their each arm along as well as cooperative movements in a game style. The motion trajectories as well as the contact forces with objects are automatically recorded which can be used to evaluate the performance of rehabilitation, effectively.