Development of a target tracking upper-limb therapeutic robot with circulating force field

Improvement of post-stroke sensory motor paralysis can be expected if voluntary movement and sensory feedback at constant condition force field with high reproducibility are intensively performed in the therapy. In this research, we developed an upper-limb therapeutic robot for upper limb paralysis patients, which can repeat simple low speed rotational motion with a circulating force field, where the user can practice independently. The design of the robot and the measurement profiles are described with the basic experiment on the robot arm's torque measurement.