The therapeutic exercise for arm assisted by 6-DOF manipulator - Setting the safety area and suitable control out of the safety area

摘要

Aiming at the reduction of therapist burden in rehabilitation exercises, the authors have developed a technology to make a 6-DOF manipulator to be an assistive worker in rehabilitation exercises. This paper described some key issues for the system: (1) setting the safety area with the average value and standard deviation of contact force for the some continuing rehabilitation exercises. (2) setting the motion out the safety area by performing suitable control in consideration of the three areas. Three areas said here is safety, caution, and the dangerous area that are set up for the preceding section (1).