• Transactions of the Korean Society of Mechanical Engineers B
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• v.41 no.8
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• pp.505-510
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• 2017

This paper presents a low-cost robotic device for shoulder rehabilitation, which is capable of treating various shoulder disabilities. A 3-DOF passive shoulder joint tracking module was designed to allow for translational motion of the shoulder joint center during arm swing, which is essential for natural shoulder movement. The weight of the user's arm and the device were compensated for by springs, to enable gravity-free shoulder motion. In order to reduce the device's cost, only one actuator was used, which can be aligned with the user's shoulder joint in various orientations. The device is capable of implementing five representative shoulder motions, including flexion/extension, abduction/adduction, horizontal abd/adduction, internal/external rotation, and oblique raise. The proposed low-cost shoulder rehabilitation robot is expected to provide effective rehabilitation for patients with various shoulder impairments.

• Journal of Biomedical Engineering Research
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• v.25 no.6
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• pp.511-517
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• 2004

The existing rehabilitation systems were developed to exercise specific joints only. Therefore rehabilitating the various joints of human, various kinds of devices are need. To overcome these defects, this paper proposed the CMRS, an integrated system that performs various rehabilitation exercises. The characteristics of motion and the positions between human body and the system were investigated with the kinematics analysis of upper and lower limb of human body. We presented a proper mechanism to develop a rehabilitation device on the base of the study and studied the relative positions between head part and human joints. Through the simulations, the possibility of rehabilitation system was verified. And the base frame was also developed for convenient and stable position control. Finally, the CMRS was developed as an 8 degree of freedom mechanism. It is expected that the CMRS will be applied to the rehabilitations of various joints.