Patent ID: 8311671

Claim:
A robot for training a rehabilitator comprising a bi-articular arm device which includes: a first link; a second link having a proximal end rotatably supported in a base and having a distal end rotatably connected to a proximal end of said first link; a first actuator and a second actuator for generating a driving force for causing said first link to rotate relative to said second link; a third actuator and a fourth actuator for generating the driving force for causing said first link to rotate relative to said base; a fifth actuator and a sixth actuator for generating the driving force for causing said second link to rotate relative to said base; and a skin unit covering up a surface of said first and second links, and a light emitter arranged at a location matched to a mono-articular muscle or a bi-articular muscle of an upper limb or a lower limb, said robot further comprising: a controller for actuating said first to sixth actuators in accordance with a predetermined driving sequence to generate forces in six directions at the distal end of said first link, one or more of said first to sixth actuators, being selected so that the direction of the force to be generated at the distal end of said first link will be the selected direction, said light emitter being associated with an actuator generating the driving force or with an actuator subjected to the force.