**4.2 Evaluation program**

The four evaluation programs can record time, grip position, velocity, error of the grip position, and so on. The contents of the programs are almost the same as those of the training programs.

One of the evaluation programs, "Wave", is described in this section. Two circles and a sinewave-shaped line are shown in the display (Fig. 8). The circles are connected with a wavy line. The user tries to move the cursor from one circle to the other while staying on the line. The amplitude and the cycle of the wave can be changed.

In addition, game-like evaluation programs for the children to use are also prepared. The details are introduced in the next section.

Haptic Device System for Upper Limb and Cognitive

carried out.

**6. Results** 

"no force applied".

Fig. 9. Subject in the experiment

Fig. 10. "Starfish" program used in the experiment

**6.1 Comparison of time and error** 

Rehabilitation – Application for Development Disorder Children 159

guides the cursor to the target position. The last one is no force is applied. The experiments included another two different trial programs before the "Starfish" program. A total of 10 minutes was spent for each subject. After playing the experimental game, an interview was

The experimental data of four subjects could not be used due to the subjects' misunderstanding of tasks and some mistakes in the system setting. The data of another three subjects were statistically eliminated. Of these three, two subjects moved the grip too quickly and had large errors, and another subject moved the grip too slowly and took a long time to play the game. Thus, the data of a total of 20 subjects were compared for duration

Fig. 11 shows the relationship between the duration time and age with the three variations of applied haptic force. The horizontal axis is expressed as the log of the age. No significant correlations are confirmed. For example, the highest correlation, R2 = 0.0029, is in the case of

time, grip (cursor) position error from the center of the wave line, and subject age.

Fig. 8. "Wave" program for evaluation
