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These days, there aremany patients with ataxia, which is paralysis caused by a brain stroke or asynergia. Early detection of functional deterioration and sufficient rehabilitative training are necessary for these patients. Rehabilitation support systems for upper limbs using force display systems are expected to quantify the effects of rehabilitative training and enhance the motivation of patients. The application of a passivetype force display system is especially desirable for its high safety. There are, however, some directions and positions for which it is difficult to display force in a passive-type force display systemusing only passive elements. To solve this problem, a method for the improvement of controllability using redundant brakes had been suggested. This method made it possible to display more various force power and directions than could be done with previous systems. In this study, we have developed a redundant-brake rehabilitation system for the upper limbs: Redundant-PLEMO-1.

2-D Force Display System with Redundant ER Fluid Brake Aimed at Rehabilitation Support System for Upper Limbs