A robotic system to train activities of daily living in a virtual environment |
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Authors: | Marco Guidali Alexander Duschau-Wicke Simon Broggi Verena Klamroth-Marganska Tobias Nef Robert Riener |
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Institution: | (1) Sensory-Motor Systems Lab (SMS), ETH Zurich, TAN E, Tannenstrasse, Zurich, Switzerland;(2) Spinal Cord Injury Center, Medical Faculty, University Hospital Balgrist, Forchstrasse 340, Zurich, Switzerland;(3) Hocoma AG, Volketswil, Switzerland;(4) Gerontechnology and Rehabilitation Group, ARTORG Center for Biomedical Engineering Research, University of Bern, Bern, Switzerland |
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Abstract: | In the past decade, several arm rehabilitation robots have been developed to assist neurological patients during therapy.
Early devices were limited in their number of degrees of freedom and range of motion, whereas newer robots such as the ARMin
robot can support the entire arm. Often, these devices are combined with virtual environments to integrate motivating game-like
scenarios. Several studies have shown a positive effect of game-playing on therapy outcome by increasing motivation. In addition,
we assume that practicing highly functional movements can further enhance therapy outcome by facilitating the transfer of
motor abilities acquired in therapy to daily life. Therefore, we present a rehabilitation system that enables the training
of activities of daily living (ADL) with the support of an assistive robot. Important ADL tasks have been identified and implemented
in a virtual environment. A patient-cooperative control strategy with adaptable freedom in timing and space was developed
to assist the patient during the task. The technical feasibility and usability of the system was evaluated with seven healthy
subjects and three chronic stroke patients. |
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