The Range of Motion (ROM) is an important index of physical and occupational therapy, although getting quantitative results requires much time and effort. This paper proposes a method for measuring the ROM on a 2-dimensional plane by introducing a rehabilitation robot. One advantage is that quantitative measurement is easily done. This paper also proposes the concept of resistancemovementROM, which indicates the extent of movement under load and resistance. This method makes it possible to observe the distribution of strength within the ROM. In other words, the proposed method evaluates upper limb mobility and the ability to produce force. The feasibility of the method is evaluated through experimental results.

1. [1] B. T. Volpe, H. I. Krebs, N. Hogan, L. Edelstein, C. Diels, and M. Aisen, “A novel approach to stroke rehabilitation,” Neurology, Vol.54, No.10, pp. 1938-1944, 2000.
2. [2] T. Noritsugu and T. Tanaka, “Application of rubber artificial muscle manipulator as a rehabilitation robot,” Trans. IEEE/ASME Mechatronics, Vol.2, No. 4, pp. 259-267, 1997.
3. [3] S. Okada, T. Sakaki, R. Hirata, Y. Okajima, S. Uchida, and Y. Tomita, “TEM: a therapeutic exercise machine for the lower extremities of spastic patients,” Advanced Robotics, Vol.14, No.7, pp. 597-606, 2000.
4. [4] P. S. Lum, C. G. Burgar, P. C. Shor, M. Majmundar, and M. Van der Loos, “Robot-Assisted Movement Training Compared With Conventional Therapy Techniques for the Rehabilitation of Upper-Limb Motor Function After Stroke,” Arch. Phys. Med. Rehabil., Vol.83, pp. 952-959, 2002.
5. [5] J. J. Palazzolo, M. Ferrarom, H. I. Krebs, D. Lynch, and N. Hogan, “Stochastic Estimation of Arm Mechanical Impedance During Robotic Stroke Rehabilitation,” IEEE Trans Biomed Eng., Vol.15, No.1, pp. 94-103, 2007.
6. [6] G. Xu, A. Song, and H. Li, “Control System Design for an Upper-Limb Rehabilitation Robot,” Advanced Robotics, Vol.25, Issues 1-2, pp. 229-251, 2011.
7. [7] T. Yokoo, T. Tsuji, S. Sakaino, and S. Abe, “Development of a Physical Therapy Robot for Rehabilitation Databases,” Proc. 12th Int. Workshop on Advanced Motion Control, 2012.
8. [8] T. Yokoo, T. Tsuji, S. Sakaino, and S. Abe, “Force Control for Resistance Exercise by Robot Arm with Pneumatic Artificial Muscles Including Bi-articular Muscles,” Japan Industry Applications Society Conference, pp. 571-576 (2-48-II), 2011 (in Japanese).
9. [9] M. Guidali, P. Schlink, A. Duschau-Wiche, and R. Riener, “Online learning and adaptation of patient support during ADL training,” Proc. IEEE Int. Conf. on Rehabilitation Robotics, 2011.
10. [10] R. L. Gajdosik and R. W. Bohannon, “Clinical Measurement of Range of Motion: Review of Goniometry Emphasizing Reliability and Validity,” Phys. Ther. Vol.67, pp. 1867-1872, 1987.
11. [11] B. Tondu and P. Lopez, “Modeling and control of McKibben artificial muscle robot actuators,” IEEE Control Systems, Vol.20, No.2, pp. 15-38, 2000.
12. [12] T. Tsuji, Y. Kaneko, and S. Abe, “Whole-body Force Sensation by Force Sensor with Shell-shaped End-effector,” IEEE Trans. on Industrial Electronics, Vol.56, No.5, pp. 1375-1382, 2009.