Design of robot assistance for arm movement therapy following stroke

Authors: Reinkensmeyer, David J.1; Takahashi, Craig D.1; Timoszyk, Wojciech K.1; Reinkensmeyer, Andrea N.2; Kahn, Leonard E.3

Source: Advanced Robotics, Volume 14, Number 7, 2001 , pp. 625-637(13)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper describes the mechanical and control design of a robotic device for providing therapeutic assistance to arm movement following stroke. The device uses a single motor and a passively oriented linear constraint to allow patients to reach across their workspace. Experimental evaluation of two controllers for assisting in reaching is presented.

Keywords: REHABILITATION; MEDICAL ROBOTICS; MOVEMENT; MUSCLE CONTROL

Document Type: Research article

DOI: 10.1163/156855301742058

Affiliations: 1: Department of Mechanical and Aerospace Engineering, Center for Biomedical Engineering, University of California at Irvine, Irvine, CA 92697, USA 2: Saint Joseph Hospital, Orange, CA 92868, USA 3: Rehabilitation Institute of Chicago, Department of Biomedical Engineering, Northwestern University, Chicago, IL 60611, USA

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