Abstract
The aim of this study was to develop the novel underwater robotic device to achieve forearm abduction/adduction rehabilitation with master-slave system. The developed system could execute the 5-degree-of-freedom motion (anterior-posterior and vertical motion, and pitch, yaw, and roll rotation). We evaluated this system and the results showed enough functional capability for underwater upper limb rehabilitation, especially in the abduction/adduction rotation in forearm. Further studies are needed to achieve this system and to evaluate the efficacies regaining the for hemiparetic patients.
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