Development of rehabilitation robot for hand “ReRoH”

摘要

Regardless of the importance of well-organized motions for the wrist and fingers, their effective training / assessment methods have not been developed because of their anatomical relationships. The rehabilitation robot for hand, “ReRoH,” was developed. The ReRoH consists of a main body, an external controller and a game controller. The ReRoH installs an ER Brake to generate senses of force to wrists. We conducted characteristics tests for the brake. The results show the output torque was 0.9 Nm at 1.4 kV input, and the response time was around 5 ms. The ReRoH also installs a Leap Motion sensor for hands coordinate. We investigated the optimal area of the sensor. By using this sensor, we suggested a new way to assess motor functions of fingers and hands.