Shiro Isozumi

Measurement of reaching movement with 6-DOF upper rehabilitation system “Robotherapist”

In recent years, the needs for rehabilitation support systems are increasing, which use robot technology and virtual reality technology. Applying these technologies make efficient rehabilitation possible. We have developed 6-degrees-of-freedom (DOF) upper rehabilitation support system to evaluate synergy pattern of stroke survivors and to train stroke survivors, named “Robotherapist”. When stroke survivors who can move plural joints only along a certain constant pattern called synergy pattern do reaching movement, some of them cannot keep their posture of the arm normal, but can move their hand along the aim orbit. In this study, we experiment on a measurement of reaching movement with our system and make a model of movement peculiar to stroke survivors and a model of movement of healthy people. Additionally, we propose application software for reaching training with this model. In this paper, we report measurement of reaching movement and propose application software for reaching training with our system.

Development of isokinetic and iso-contractile exercise machine “MEM-MRB” using MR brake

Strengthening muscle force by training, e.g., an isokinetic exercise is used widely used method in the rehabilitation medicine and sports medicine. However, many conventional isokinetic exercise machines cannot be used safely and easily. In this study, we developed an isokinetic and iso-contractile exercise machine, named “MEM-MRB”, using an “MR brake”. This brake includes MR fluid. Because of the rapid response of the MR fluid, the MR brake shows superior response performance compared with conventional brakes. In other words, a simple and safe training machine with accurate rotational speed can be realized with this brake. At the same time, a high-speed (900 [deg/s] at an elbow joint) control was realized with this machine. Additionally, we experimented in isokinetic and iso-contractile exercise.

Development of isokinetic exercise system using high performance MR fluid brake

Strengthening muscle force by training, e.g., an isokinetic exercise is widely used in rehabilitative activities or sports rehabilitations. However, many conventional isokinetic exercise machines cost expensive depending on its actuation device and safety system (hardware and software). In this study, we have developed highly safe isokinetic exercise systems using only brakes with functional fluids (ER fluid or MR fluid). Because of rapid response of these fluids, such a machine has good responsibility and controllability. In this paper, we describe basic concept and characteristics of Isokinetic Exercise system using MR fluid brake and its experimental results. In particular, high-speed (900deg/s at an elbow joint) control was realized with this system. Additionally, we suggest new training mode which we call iso-contractile exercise in this paper.

Improvement of mechanism of upper extremity exercise support system “Robotherapist" and development of application software

Recently the needs for medical rehabilitation support systems are increasing in Japan, which use robot technology and virtual reality technology. Applying these technologies make efficient medical rehabilitation outcome. We have developed 6-degrees-of-freedom (DOF) upper extremity exercise system to evaluate synergy pattern an to exercise of upper extremity of stroke patients, named “Robotherapist”. When stroke patients who can move plural joints only under a certain pattern called synergy on reaching movement, some of them cannot keep their posture of the arm normal, but can move their hand along the aim orbit. In this study, we redesigned mechanism controlling the posture of the handle and the counter weight in order to improve the operability of “Robotherapist”. Additionally, we experimented on a measurement of reaching movement with our system and made a model of movement peculiar to stroke patients and a model of movement of healthy people. Finally, we propose application software for reaching training with this model. In this paper, we report new mechanism controlling the posture of the handle and the counter weight we redesigned and measurement of reaching movement and propose application software for reaching training with our system.

6-DOF Stand-Alone Rehabilitation System 'Robotherapist' and Its Applications to Stroke Patients

There is a need for quantitative diagnosis and evaluationin rehabilitation. This can be realized by means of rehabilitation robots system. This study is aimed at developing a rehabilitation robot capable of controlling 6 degrees-of-freedom (DOF) for upper limbs. Therefore we have developed a 6-DOF stand-alone rehabilitation system for upper limbs, named ‘Robotherapist’. Furthermore we developed application software for stroke patients in order to evaluate states and train exercises on the basis of physical therapy. This paper presents the mechanism of Robotherapist and its applications to stroke patients.