Development of a Wrist Bending Rehabilitation Robot with a Three-axis Force Sensor

3축 힘 센서가 적용된 손목 굽힘 재활로봇 개발

  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2015.10.05
  • Accepted : 2016.01.12
  • Published : 2016.01.29


This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.



Supported by : 한국연구재단


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