A Multi-functional Rehabilitation Device to Assist Forearm/Wrist and Grasp Therapies
We present a novel rehabilitation device for forearm/wrist and grasp therapy of a neurologically injured human arm and hand. Emphasizing the importance of coordinated movements of the wrist and hand while performing activities of daily living (ADL) tasks, the device is designed to assist abduction/adduction and palmar/dorsal flexion of the wrist and pronation/supination of the forearm, concurrently with grasping and releasing movements of hand. Thanks to its modular, interchangeable end-effectors, the device supports ADL exercises, such as door opening. It can also be used as a measurement device, to characterize the range of motion and the isometric strength of the injured forearm/wrist and hand. Usability studies have been conducted and accuracy of the measurements provided with the device has been characterized.
Keywordsrehabilitation robotics wrist therapy hand grasp virtual reality
Unable to display preview. Download preview PDF.
- 2.Takahashi, C., Der-Yeghiaian, L., Le, V., Cramer, S.: A robotic device for hand motor therapy after stroke. In: IEEE International Conference on Rehabilitation and Robotics, pp. 17–20 (2005)Google Scholar
- 3.Frisoli, A., Rocchi, F., Marcheschi, S., Dettori, A., Salsedo, F., Bergamasco, M.: A new force-feedback arm exoskeleton for haptic interaction in virtual environments. In: IEEE Eurohaptics, pp. 195–201 (2005)Google Scholar
- 5.Furusho, J., Kikuchi, T., Oda, K., Ohyama, Y., Morita, T., Shichi, N., Jin, Y., Inoue, A.: A 6-dof rehabilitation support system for upper limbs including wrists “robotherapist” with physical therapy. In: IEEE International Conference on Rehabilitation Robotics, pp. 304–309 (2007)Google Scholar
- 6.Loureiro, R., Harwin, W.: Reach and grasp therapy: Design and control of a 9-dof robotic neuro-rehabilitation system. In: IEEE International Conference on Rehabilitation Robotics, pp. 757–763 (2007)Google Scholar
- 7.Mrad, C., Kawasaki, H., Takai, J., Tanaka, Y., Mouri, T.: Development of a multifingered robotic human upper limb as an inverse haptic interface. In: IEEE International Conference on Systems, Man and Cybernetics, vol. 4 (2002)Google Scholar
- 8.Dovat, L., Lambercy, O., Ruffieux, Y., Chapuis, D., Gassert, R., Bleuler, H., Teo, C., Burdet, E.: A haptic knob for rehabilitation of stroke patients. In: IEEE International Conference on Intelligent Robots and Systems, pp. 977–982 (2006)Google Scholar
- 9.Unal, R., Patoglu, V.: Optimal dimensional synthesis of force feedback lower arm exoskeletons. In: IEEE International Conference on Biomedical Robotics and Biomechatronics, pp. 329–334 (2008)Google Scholar
- 10.Ertas, I., Hocaoglu, E., Barkana, D., Patoglu, V.: Finger exoskeleton for treatment of tendon injuries. In: IEEE International Conference on Rehabilitation Robotics, pp. 194–201 (2009)Google Scholar
- 11.Erdogan, A., Satici, A., Patoglu, V.: Design of a reconfigurable force feedback ankle exoskeleton for physical therapy. In: ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, pp. 400–408 (2009)Google Scholar