ARMin: a robot for patient-cooperative arm therapy |
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Authors: | Tobias Nef Matjaz Mihelj Robert Riener |
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Institution: | (1) Sensory-Motor Systems (SMS) Laboratory, ETH Zürich, TAN E, Tannenstrasse 1, 8092 Zurich, Switzerland;(2) Spinal Cord Injury Center, University Hospital Balgrist, University Zurich, Zurich, Switzerland |
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Abstract: | Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in patients with paralyzed upper extremities
due to lesions of the central nervous system. There is evidence that the training duration is a key factor for the therapy
progress. Robot-supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the
kinematics, the control and the therapy modes of the arm therapy robot ARMin. It is a haptic display with semi-exoskeleton
kinematics with four active and two passive degrees of freedom. Equipped with position, force and torque sensors the device
can deliver patient-cooperative arm therapy taking into account the activity of the patient and supporting him/her only as
much as needed. The haptic display is combined with an audiovisual display that is used to present the movement and the movement
task to the patient. It is assumed that the patient-cooperative therapy approach combined with a multimodal display can increase
the patient’s motivation and activity and, therefore, the therapeutic progress. |
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Keywords: | Robotics Haptic device Exoskeleton Rehabilitation Arm therapy |
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