Abstract
We are developing the training and evaluation support system for upper limbs using 3D force display robot. This robot is introduced to resistance training performed in CI (Constraint-Induced movement) therapy. For this purpose, the resistance force control method is proposed to imitate three types of training programs, namely step mode, slope mode and wall mode, performed by a therapist. And two types of braces are developed for patients. In this system a therapist can make various training trajectories suitable to a patient's conditions by using the teaching and guided function and easily set the training programs' parameters suitable for patients. This system can be expected to reduce therapist's burden in CI therapy.
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