• 센서학회지
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• 제25권1호
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• pp.27-34
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• 2016

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.

• 센서학회지
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• 제22권2호
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• pp.118-123
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• 2013

Most serious stroke patients have the paralysis of their wrists, and can't use of their hands freely. But their wrists can be recovered by rehabilitation exercise. Recently, professional rehabilitation therapeutists exercise the wrists of stroke patients in hospital. But the wrists of stroke patients have not rehabilitated, because the therapeutists are much less than stroke patients in number. Therefore, the wrist bending-exercise rehabilitation robot that can measure the bending force of the patients' wrists is developed. In this paper, the three-axis force sensor was designed for the wrist bending-exercise rehabilitation robot. As a test results, the interference error of the three-axis force sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist bending force of the patient.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.1011-1016
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• 2013

Patients have the paralysis of their wrists, and can't use of their wrists freely. But their wrists can be recovered by wrist-bending rehabilitation exercise. Professional rehabilitation therapeutists exercise the wrists of patients in hospital. But the wrists of patients have not exercised enough for the rehabilitation, because the therapeutists are much less than patients in number. Therefore, the wrist rehabilitation robot should be developed, and it have to measure the applied force to the patients' wrists for their safety. In this paper, the four-axis force/moment sensor was designed for the wrist rehabilitation robot. As a test results, the interference error of the four-axis force/moment sensor was less than 0.91%. It is thought that the sensor can be used to measure the applied force to the patients' wrists.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1021-1022
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1023-1024
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• 2013