Abstract
In recent years, the number of stroke patients has been increasing. The rehabilitation systems for upper limbs using force display system are expected to quantify the effect of rehabilitative training, and can enhance the motivation of an operator. A passive-type force display system uses only brake, and ensures high safety. It can display resistance force by using brake. For this force, the system must display the force in the opposite direction. However, the system cannot display this opposite force in some cases. In this paper, we research the mechanism to display the opposite force to all motion direction at all posture. And we describe a rehabilitation system for upper limbs: NEO-PLEMO, which use this mechanism.
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