Development of Rehabilitation System for Upper Limbs: PLEMO-P3 System for Hemiplegic Subject (Motor Function Test for Assessment and Training, and Research for Development of Practical Type)

摘要

We have developed PLEMO-P3, a rehabilitation system for the upper limbs that utilizes ER brakes as torque generators and is a passive haptic device. To detect abnormalities in patients, we developed a new sensing device and installed it on the grip of the PLEMO-P3. In this paper, we compare several kinds of information from the sensor system (grasping force, reaction force against the working plane, and wrist joint range) and traditional stroke assessment (BRS, FMA and STEF). We establish effective assessment and training methods with PLEMO-P3, finding the effects of training and a strong correlation between them. We suggest a training method with PLEMO depending on the results of clinical assessment. We confirmed the correlation of the working plane reaction force and wrist joint range of motion and were able to detect synergy movement within the motion sensor wrist joint range. This correlation has been understood that it will equip it only with the wrist joint range of motion sensor in PLEMO-P4, a machine for practical use.