**1. Introduction**

150 Haptics Rendering and Applications

Houston, K., Sieber, A., Eder, C., Vittorio, O., Menciassi, A., Darion, P., (2011), A

Litovsky, S., Choy, M., Park, J., Parrish, M., Waters, B., Nagashima, M., Praagh, R.V., Praag, S.V.

Mohr, F.W., Falk, V., Diegeler, A., Walther, T., Gummert, J.F., Bucerius, J., Jacobs, S.,

Ortmaier, T., Reintsema, D., Seibold, U., Hagn, U., Hirzinger, G. (2001) The DLR minimally

Sieber, A., Valdastri, P., Houston, K., Menciassi, A., Dario, P. (2007) Flip Chip

Song, G., Guo, S., Wang, Q. (2006), A Tele-operation system based on haptic feedback.

Strandman, C., Smith, L., Tenerez, L., Hoek, B. (1997). A production process of silicon sensor

Sydorak, R.M., Albanese, C.T. (2003). Minimal access techniques for fetal surgery, World J

Tavakoli, M., Patel, R.V., Moallem, M. (2003) A Force Reflective Master- Slave System for

Valdastri, P., Sieber, A., Houston, K., Menciassi, A., Dario, P., Ynangihara, M., Fujie, M.

Minimally Invasive Surgery. ASME Journal of Medical Devices, Sept. 2007 Valdastri, P., Harada, K., Menciassi, A., Beccai, L., Stefanini, C., Fujie, M., Dario, P. (2005)

Vijaykumar, R., Locke, A.H., Kralovec, S., Neuzil, P., Fonck, E., Harari, D., Reddy, VZ.(2011)

Wagner C.R., Stylopoulos, N., Howe, R.D. (2002). Proc. of the tenth symposium on haptic interfaces for virtual environment and teleopertator systems, 2002, pp73-79

Multimodal Telepresence Systems, Munich, Germany, March 2001 Rebello K. (2004). Applications of MEMS in surgery. Proc. IEEE, 92(1), 2004., pp. 43–55 Reiley, C.E., Akinbiyi, T., Burschka, D., Chang, D.C., Okamura, A.M., Yuh, D.D. (2008)

in 148 patients. J. Thor. Cardio. Surg., 121(5):842–853, 2001.

International Journal of Robotics & Automation, Vol. 26, No. 3, 2011 Kalvesten, E., Smith, L., Tenerz, L., Stemme, G.,. The first surface micromachined pressure

1998, Page(s): 574 - 579

97-98, 1 April 2002, Pages 75-82

Cardiovasc Surg 2008;135:196-202

Surg, 2003, Vol. 27, pp. 95–102.

August 20 - 23, 2006, Weihai, Shandong, China

surgical tool, IEEE Trans. Biomed. Eng, 2005

Intelligent Robots and Systems, Las Vegas, Nevada, 2003.

and Actuators, 2007

PO6-85, May 2011

pp. 69–74

Teleoperation System with Novel Haptic Device for Micro-Manipulation,

sensor for cardiovascular pressure measurements, MEMS 98. Proceedings., The Eleventh Annual International Workshop on Micro Electro Mechanical Systems,

(2000), Absent pulmonary valve with tricuspid atresia or severe tricuspid stenosis: report of three cases and review of the literature., Pediatr Dev Pathol 3(4), 353--366. Melvås, P., Kälvesten, E., Enoksson, P.,Stemme, G. A free-hanging strain-gauge for

ultraminiaturized pressure sensors, Sensors and Actuators A: Physical, Volumes

Autschbach, R. (2001). Computer-enhanced "robotic" cardiac surgery: Experience

invasive robotivs surgery scenario. Workshop on Advances in Interactive

Effects of visual force feedback on robot-assisted surgical task performance. Thorac

Microassembly of a Triaxial Force Sensor on Flexible Substrates, Journal of Sensors

Proceedings of the 2006 IEEE International Conference on Information Acquisition

elements for a fibre- optic pressure sensor. Sensors and Actuators A, 63(1), 1997.,

Minimally Invasive Surgery. Proceedings of the 2003 IEEE/RSJ Intl. Conference on

(2007) Miniaturized Cutting Tool With Triaxial Force Sensing Capabilities for

Integration of a miniaturised three axial force sensor in a minimally invasive

Spatiotemporal Distribution of Catheter-Tissue Contact Force across the Left Atrium during Pulmonary Vein solation, Heart Rhythm Society, San Fransisco, CA, A rehabilitation system using mechatronics, virtual reality can provide interactive therapy that engages the user's interest. It can also offer a simple and flexible environmental setup with precise recursive training and can gather training data at the same time. Several kinds of virtual reality applications are currently available in this field. For example, MIT-MANUS, MIME (Mirror Image Movement Enabler), Assisted Rehabilitation and Measurement (ARM) Guide, and a rehabilitation training system using an electrorheological actuator. Current research is primarily focused on providing effective rehabilitation of adult users. However, users of rehabilitation systems also include children. According to occupational therapists, therapy for developmentally disabled children should include a variety of training and typically requires hand-eye coordination because this is an important skill for school.

Currently, most conventional rehabilitation programs tend to be repetitive. Therefore, children are difficult for users to stay motivated while improving impaired functions. Nevertheless, several methods are available to evaluate the level of disability. These assessments are largely based on the therapist's subjective observations. Moreover, sometimes the result depends on the quality of therapy and the experience of the therapist. Therefore, it is necessary to measure, analyze, and evaluate the user's performance in objective and quantitative terms.

To solve these problems and meet specific requirements, we developed a rehabilitation system using a haptic device that integrates both motion and sensory therapy. The system is designed to maintain the user's interest during the rehabilitation activity. To evaluate the

<sup>\*</sup> Yuko Ito2, Kaoru Inoue2, Yumi Ikeda2, Tasuku Miyoshi3, Takafumi Terada4, Ho kyoo Lee5,

and Takashi Komeda6

*<sup>2</sup> Tokyo Metropolitan University, Japan* 

*<sup>3</sup>Iwate University, Japan* 

*<sup>4</sup>Mitsubishi Precision Co., Ltd., Japan* 

*<sup>5</sup>Hyogo Institute of Assistive Technology, Japan* 

*<sup>6</sup>Shibaura Institute of Technology, Japan*

Haptic Device System for Upper Limb and Cognitive

 Controlling the haptic device Displaying the training program Acquiring the training data Evaluating the training result

Fig. 1. Haptic device system

Fig. 2. Flow of the haptic device system

program. The computer executes the following functions:

Haptic Force

**Patient**

Grip

AC Motor

Motor Driver

Teaching and Discussion

Operation

Rotary Encoder

**Therapist**

Motor Controller Counter

Software

**Computer**

Set Preference

**Haptic Device**

Visual Information

Display

Rehabilitation – Application for Development Disorder Children 153

servomotors. The position of the grip is calculated by the encoder pulse count and the length of the link rods. The LCD display shows the visual symbols of the training programs. The aspect ratio of the work field on the display is proportional to the actual flat panel. Advantages of the haptic device are ease of handling and portability in a hospital or a home. In this model, the user only needs to plug in the USB connector to a PC and run the training

system and gather basic data for quantitative evaluation of the levels of disorders, we carried out experiments with healthy child subjects.

In this paper, an outline of our developed haptic device system is introduced and experiments on the interactions of kindergarten children with this system are described. It was found that the proposed system effectively performed hand-eye coordination training.
