A 6-DOF Rehabilitation Support System for Upper Limbs including Wrists "Robotherapist" with Physical Therapy

Rehabilitation for upper limbs is important for aged people, stroked patients and so on. 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. But there is no rehabilitation support system that has 6-DOF for upper limbs including wrists besides application software of physical therapy. We developed a 6-DOF-rehabilitation support system for upper limbs including wrists, named "Robotherapist". Furthermore we develop new application software for clinical training and evaluation on the basis of physical therapy. Therefore Robotherapist make more effective rehabilitation possible. This paper presents the mechanism of Robotherapist and its software on physical therapy.