An Orthopaedic Robotic-Assisted Rehabilitation Method of the Forearm in Virtual Reality Physiotherapy

Figure 4

Force feedback scheme to the patient during the execution of elbow joint movements. (a) The assisted mode is activated during passive or active-assisted exercising by aiding the patient to follow a trajectory from the starting to the target positions, where the target position corresponded to the current target object in the VR scenario. (b) The resistive mode is activated during assisted exercising, pushing the end-effector towards the opposite side of the patient movement.

(a)

(b)