Hiroyuki Ukai

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We develop a rehabilitation support robot for personalized rehabilitation of upper limbs. This robot is equipped with rehabilitation training support system and muscle testing system. The rehabilitation training support system enables therapists to easily make a training program to suit patients' individual needs. The muscle testing system enables(More)
This paper we propose a new rehabilitation training support system of upper limbs with the teaching/training function for personalized rehabilitation. The proposed teaching/training function enables the therapists to easily make not only training trajectories but also training programs to suit the individual needs of the patients. It is shown in this paper(More)
This paper describes the Lyapunov-based force control suppressing the coupled bending and torsional vibrations of a one-link flexible arm with a rigid tip body. On the basis of the distributed parameter model, the output feedback control law is constructed using Lyapunov method, and the asymptotic stability of the closed-loop system is proved. The proposed(More)
In this paper we analyze and model upper limb motion during sanding training. The sanding training is one of resistance training for upper limbs widely performed in occupational therapy in Japan. In the future the final aims are to quantitatively evaluate the therapeutic effect of upper limb motion during the training and to develop a new rehabilitation(More)
The final aim of our research is to develop an evaluation system of rotator cuff function quantitatively using the three dimensional force display robot. The rotator cuff is made up of four inner muscles that act to stabilize the shoulder. Because of inner muscles, it is difficult to evaluate rotator cuff function directly. In this paper we perform three(More)