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A 3-D rehabilitation system for upper limbs developed in a 5-year NEDO project and its clinical testing

New training methods and exercises for upper limbs rehabilitation can be developed using robotics and virtual reality technologies. The technologies can make quantitative evaluations and enhance the qualitative effect of trainings. We have developed a 3D exercise machine for upper limbs (EMUL) with special actuators using electrorheological (ER) fluid. The ER actuator is composed of an ER clutch and its driven mechanism consisting of a motor and a reduction-gear unit, and we can ensure safety of patients mechanically by using them. This paper deals with the development of EMUL. We also present the development of software for motion exercise trainings and some results of clinical evaluation.