Vol.4(2008) pp.41-52 1 1 2 3 1 1 1 2 3 19 12 20 Preliminary Studies of Robot Assisted Rehabilitation Using Commercially Available Entertainment Robots Toshihiro TETSUI 1 Eiichi OHKUBO 1 Noriko KATO 2 Shin ichi SATO 3 Ryuhei KIMURA 1 Mitsuru NAGANUMA 1 Robot Assisted Activity (RAA) and Robot Assisted Therapy (RAT) were put into practice and shown to be effective at the rehabilitation ward and elderly persons nursing home using commercially available entertainment robots. Animal Assisted Activity (AAA) and Animal Assisted Therapy (AAT) are well known and modeled on this study. Remote control of the robot that is impossible in the case of an animal showed very effective in the rehabilitation practice and Robot Assisted Rehabilitation (RAR) was proposed. However there are several problems for the remote controlled RAR to receive wide recognition as the candidate of the complementary medicine. One of the problems is that the robot operator is needed besides intervener or therapist. To solve this problem a small and simple operating terminal with www browser was developed aiming it can be used by the intervener. In this paper, preliminary studies of RAA/RAT are reported laying stress on rehabilitation application and improvement of the robot remote control system. Keywords : Robot Assisted Activity, Robot Assisted Therapy, entertainment robot, rehabilitation, wireless LAN 41
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Table 1 Robots used for RAA and RAT Fig.1 Configuration of remote operation 43
LAN LAN (IEEE802.3 100Mb/s) (IEEE802.11b 11Mb/s) (a) (b) (c) LAN 2 Fig.2 Network configuration for remote control PC (d) (e) Fig.3 Relationship between patient, robot and intervener 44
4 RAA/RAT Fig.4 Typical group RAA/RAT 45
(a) (b) 5 (a)(b) Fig.5 Motion tracking of the patient with unilateral spatial neglect, without robot (a) and with robot (b) (a) (b) Fig.6 Eye contact analysis for (a) continuous and (b) intermittent observations 46
1.2 1.0 0.8 0.6 0.4 0.2 0 0 0.2 0.4 0.6 0.8 1.0 1.2 7 Fig.7 Dispersion relation between patient and intervener 2 RAR Table 2 Measured blood pressure before and after RAR 47
3 (GSR) RAR Table 3 Evaluation of RAR by Galvanic Skin Reflex (a) (b) (c) 8 Fig.8 Creation of communication field by remote controlled robot 48
4 Table 4 Summary of developed system 9 Fig.9 Designed remote control browser 49
10 RAT Fig.10 Developed small terminal for remote RAT 11 RAA Fig.11 Trial of RAA using developed small terminal 50
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