In recent years, there has been so many research activities about HMC (Human Machine Cooperation) in the field of robotics. But the concept of HMC has been hardly reflected in the area of rehabilitation robot system in spite of its necessity, Even though there exists such a work, it is limited to the specific system or task.
In this thesis, the design principle for HMC was proposed in the view of rehabilitation robot system. This principle suggests the necessary conceptual contents not only in the view of software but whole system components including the robot system, interface and the particularity of the disabled for HMC as a prescriptive one. And two tasks were realized in the implemented system as the application of this concept. Grasping an object procedure was redesigned compared to the existing system and hand path guiding task by tremor recognition was newly implemented. These two tasks show that the success rate and efficiency of task performance can be improved by HMC.
