Basic Experiment on Rehabilitation of Upper-Limb Motor Function Using Haptic-Device System

햅틱 장치를 이용한 상지 운동기능 장애인의 재활치료에 관한 기초 실험

  • Lee, Ho-Kyoo (Dept. of Human Environment Design Faculty of Human Life Design Toyo Univ.) ;
  • Kim, Young-Tark (Dept, of Mechanical Engineering, Chung Ang Univ.) ;
  • Takahashi, Yoshiyuki (Dept. of Human Environment Design Faculty of Human Life Design Toyo Univ.) ;
  • Miyoshi, Tasuku (Dept. of Mechanical System Engineering, Iwate Nat'l Univ.) ;
  • Suzuki, Keisuke (Rehabilitation Dept., Tokyo Teishin Hospital) ;
  • Komeda, Takashi (College of Systems Engineering and Science, Shibaura Institute of Technology)
  • Received : 2010.01.21
  • Accepted : 2011.02.13
  • Published : 2011.05.01


Rehabilitation exercises must maintain a patient's interest and permit a quantitative evaluation of the rehabilitation. We have developed a haptic-device system. When users move a grip, the haptic device provides a virtual force that either assists the movement of their arm or working against it. To investigate the functional effect of this system in a rehabilitation program, we used for five subjects with motor-function disorders and measured the grip position, velocity, force exerted on the grip, and EMG activities during a reaching task of one subject. The accuracy of the grip position, velocity and trajectories patterns were similar for all the subjects. The results suggested that the EMG activities were improved by applying the virtual force to the grip. These results can be used for the development of rehabilitation programs and evaluation methods.


Haptic Device;Rehabilitation;Stroke Patients;Upper Limb


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