Control concept of SEFRE Rehab System

摘要

SEFRE (Shoulder-Elbow-Forearm Robotics Economic) rehabilitation system is introduced in this paper. The control concept to allow everybody, e.g. a patient who has no muscle force, or a healthy person who has problem of muscle deficiency, to be rehabilitated by SEFRE Rehab System is focused. Also, a low cost robotic rehabilitation system for wristelbow-forearm, so called WEFRE Rehab System, is presented. The result of an intensive pre-clinical test showed that WEFRE is usable for the passive rehabilitation at the center. Also, the development of WEFRE is an essential step for inventing SEFRE Rehab System. SEFRE Rehab System is composed of a robotic manipulator and an exoskeleton, i.e. FSM (Forearm Supportive Mechanism). The control concept of the system is executed as the Master PC consisting of five modules, i.e. IC, PC, TG, PM, and PS. These modules allow a user to play with SEFRE in six modes, i.e. Passive, Passive Stretching, Passive Guiding, Initiating Active, Active Assisted, and Active Resisted. Here, result and discussion of 4-case test, i.e. Stop-Resume Commands, Passive, Passive Stretching, and Initiating Active are presented.