위치-힘 피득백을 사용하는 2자유도 상지 재활 로봇의 원격조작 제어

This paper describes the mechanical and control design of a rehabilitation exercise system which utilizes are tele-operation and 2-DOF robot device for providing therapeutic assistance to arm movement following stroke. This is a new robot for arm therapy applicable to the training of activities of daily living in homes and clinics. In addition, a torque sensor and position sensor was applied to the robot devices to estimate the rehabilitation extent of patient. And the analysis and design of master and slave tele-operation system a discussed. The Proposed control scheme is introduced to are prototype master-slave system and the experimental results show the validity of the proposed scheme. Repetitive movement can improve a movement performance in patients with elbow spasticity. By using the rehabilitation robot, the patient could exercise by themselves without therapist.