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.