Development Of 6-Dof Force Feedback System For Rehabilitation Of Wrist Paralysis

The increasing number of paralyzed persons and a shortage of the physical therapist is becoming an increasing problem, focusing attention on rehabilitation support. Noting the increase in wrist paralysis, we are developing corresponding rehabilitation support. Our basic approach centers on force feedback system based on the parallel 6-degree-of-freedom (DOF) Stewart platform. In this paper, we focus on the generation of a desired force which is a resultant force of the six cylinder forces of the parallel mechanism. Also we focus on drawing a 3D computer graphic (CG) model which shows harmonic movement with the parallel mechanism in virtual space. It is the feedback information for wrist rehabilitation. In this paper, we show that the experimental results of the desired force generation and the 3D-CG model moves harmonically with the parallel mechanism assigned distance place via the Local Area Network.