**4.1 Training program**

In the training programs, the user is urged to move her or his arms along diagonal, straight, and voluntary paths. The user can work a puzzle and play other game-like programs. These programs also help the user to develop concentration during training. Screenshots of the programs are shown in Figs. 4 to 7. Details of the programs are presented in the following.


Haptic Device System for Upper Limb and Cognitive

to appropriate colors.

Fig. 6. Sweeping tiles

Fig. 7. Balloon operation

**4.2 Evaluation program** 

training programs.

Rehabilitation – Application for Development Disorder Children 157

6. Balloon operation: Colorful circular rings are shown in the center of the display and ringed solid circles are randomly located around the rings (Fig. 7). The user tries to move the ringed solid circles to the same color rings at the center of the display. Each ringed circle has a different a virtual weight and vulnerability. When pushing the ringed solid circle by using the cursor, if the user pushes hard (by moving quickly), the ring and circle will be broken. The goal of this program is to move the all ringed circles

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

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.

In addition, game-like evaluation programs for the children to use are also prepared. The

The amplitude and the cycle of the wave can be changed.

details are introduced in the next section.

or left objects have the same magnitude and texture haptic force of the center object. The user tries to check which side object has same of center one. The subprograms, types and magnitude of the haptic forces can be selected from the pop-up menu.

4. Puzzle: The puzzle frame is shown in the center and the puzzle pieces are shown around the frame (Fig. 5). The user tries to pick and move each piece to the appropriate position in the frame and complete the puzzle to show the original image. When moving the piece, the user can feel the weight of the piece. The original puzzle image can be generated from uploaded pictures. The user or therapist can select and use a favorite or suitable picture for training. The number and the weight of pieces can be changed to adjust the level of difficulty.

Fig. 4. Comparing the load (weight) of the objects

#### Fig. 5. Puzzle

5. Sweeping tiles: Square-shaped colored tiles are shown in the display (Fig. 6). The user tries to move the cursor over all of the tiles. When the cursor is located over a tile, the color of the tile is replaced with a hidden picture. Pictures interesting to the user can be displayed to keep his or her concentration during the training. Prepared arbitrary picture files can be used as the hidden pictures. The number of tiles and the magnitude and direction of the virtual force in the training are adjustable.

6. Balloon operation: Colorful circular rings are shown in the center of the display and ringed solid circles are randomly located around the rings (Fig. 7). The user tries to move the ringed solid circles to the same color rings at the center of the display. Each ringed circle has a different a virtual weight and vulnerability. When pushing the ringed solid circle by using the cursor, if the user pushes hard (by moving quickly), the ring and circle will be broken. The goal of this program is to move the all ringed circles to appropriate colors.

Fig. 6. Sweeping tiles

156 Haptics Rendering and Applications

types and magnitude of the haptic forces can be selected from the pop-up menu. 4. Puzzle: The puzzle frame is shown in the center and the puzzle pieces are shown around the frame (Fig. 5). The user tries to pick and move each piece to the appropriate position in the frame and complete the puzzle to show the original image. When moving the piece, the user can feel the weight of the piece. The original puzzle image can be generated from uploaded pictures. The user or therapist can select and use a favorite or suitable picture for training. The number and the weight of pieces can be

5. Sweeping tiles: Square-shaped colored tiles are shown in the display (Fig. 6). The user tries to move the cursor over all of the tiles. When the cursor is located over a tile, the color of the tile is replaced with a hidden picture. Pictures interesting to the user can be displayed to keep his or her concentration during the training. Prepared arbitrary picture files can be used as the hidden pictures. The number of tiles and the magnitude

and direction of the virtual force in the training are adjustable.

changed to adjust the level of difficulty.

Fig. 4. Comparing the load (weight) of the objects

Fig. 5. Puzzle

or left objects have the same magnitude and texture haptic force of the center object. The user tries to check which side object has same of center one. The subprograms,

Fig. 7. Balloon operation
