Abstract
In this paper we propose a new muscle test system using the 3D force display robot instead of manual muscle test (MMT). The robot provides the muscle test for an upper limb. Instead of the therapist, the robot pushes the patient's arm with a constant force along the movement trajectory corresponding to MMT. For this purpose we propose a control method of resistance force in the robot. By using the proposed control method and the teaching/guided function, the muscle test system using the robot can be realized. The advantages are to be able to measure the muscle force and the range of motion precisely and to be able to evaluate the muscle force quantitatively. The effectiveness of the control algorithm of the proposed system is verified experimentally by applying this system to healthy students.
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