Development of rehabilitation training support system using 3D force display robot

In this paper we propose a new rehabilitation training support system for upper limbs. The proposed system enables therapists to quantitatively evaluate the therapeutic effect of upper limb motor function during training, to easily change the load of resistance of training and to easily develop a new training program suitable for the subjects. For this purpose we develop a new 3D force display robot and its control algorithms of training programs. The 3D force display robot ha's a parallel link mechanism with three motors. The control algorithm simulating sanding training is developed for the 3D force display robot. Moreover the teaching/training function algorithm is developed. It enables the therapists to easily make training trajectory suitable for the subject's condition. The effectiveness of the developed control algorithms is verified by experiments.