The robot described in this paper, SUE (Supinator Extender), adds forearm/wrist rehabilitation functionality to the UCI BONES exoskeleton robot and to the ArmeoSpring rehabilitation device. SUE is a 2-DOF serial chain that can measure and assist forearm supination-pronation and wrist flexion-extension. The large power to weight ratio of pneumatic actuators allows SUE to achieve the forces neede...

In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators' driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, fl...

Recently, the rehabilitation devices using a soft pneumatic actuator for disabled are actively researched and developed because of the insufficient number of PT. In the previous study, the wrist rehabilitation device using flexible robot arm that consisted of three flexible pneumatic cylinders was proposed and tested. In this study, the wearable wrist rehabilitation device is proposed and teste...

This paper presents the architecture and the control hierarchy of a 3 degrees-offreedom robot destined for the rehabilitation of the upper limbs. A hybrid control law, using a weighted sum of force and impedance, is proposed to implement the ActiveAssisted rehabilitation mode. Parameters’ tuning of the resulting active force feedback controller is based on a compromise between user’s safety and...

There is a need for effective stroke rehabilitation systems that are affordable and can be used in under-supervised/unsupervised environments whether in the clinic, the home or in the community. This paper discusses the challenge of developing such systems and presents briefly two studies that examine how issues such as engagement and compliance affect the long-term effectiveness of these syste...

This technical paper describes the implementation of the User Interface for ProVAR, a desktop assistive rehabilitation robot. In addition to mediating interactions between the user and the real-time robot controller, the interface is responsible for the management of a world model and the high level validation of task deployment. The user may perform task planning, simulation and execution thro...

A new rehabilitation robot was designed. The robot included a suspension mechanism, a drive unit, and an adjustment mechanism. Additionally, innovative weight loss mechanism increased the dynamical device so that it could be used with patients of varying lower extremity muscle strengths. The relationship of hip and knee angles with height, step length, and gait cycle was studied. It was develop...

This paper addresses a pet-type robot rehabilitation system for aged people. The robot offers interactivity, which can communicate autonomously and communicate with others using Internet-connectivity, for being a partner. To avoid being satiated with conversation, we propose reconfigurable interactivity, especially focused conversation contents. In order to watch over aged people through the Ne...

Human’s intention plays a key role in humanmachine interaction as in the case of a robot serving for a handicapped person. The quality of a service robot will be much enhanced if the robot can infer the human’s intension during the interaction process. In this paper, we propose a soft computing-based technique to read a user’s intention using some multisensors-based approach. We have tested the...

This article describes an experimental test-bed that was developed to assist and assess rehabilitation during physical and occupational therapy. A PUMA 260 robot was used for which a controller and interface software was developed in-house. The robot can operate in two modes: (i) passive and (ii) active. In the passive mode, the robot moves the subject’s arm through specified paths. In the acti...