A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design
- Тип контента: Научная статья
- Номер документа: 1243
- Название документа: A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design
- Номер (DOI, IBSN, Патент): 10.1109/ICORR.2005.1501151
- Изобретатель/автор: Wolbrecht, E.T., Smith, R., Sanchez, R.J., Reinkensmeyer, D.J., Rao, S., Rahman, T., Liu, J., Cramer, S.C., Bobrow, J.E.
- Правопреемник/учебное заведение: Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
- Дата публикации документа: 2005-08-29
- Страна опубликовавшая документ: США
- Язык документа: Английский
- Наименование изделия: Не заполнено
- Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
- Вложения: Да
- Аналитик: Дмитрий Соловьев
This paper describes the development of a pneumatic robot for functional movement training of the arm and hand after stroke. The device is based on the Wilmington Robotic Exoskeleton (WREX), a passive, mobile arm support developed for children with arm weakness caused by a debilitative condition. Previously, we scaled WREX for use by adults, instrumented it with potentiometers, and incorporated a simple grip strength sensor. The resulting passive device (Training WREX or «T-WREX») allows individuals with severe motor impairment to practice functional movements (reaching, eating, and washing) in a simple virtual reality environment called Java Therapy 2.0. However, the device is limited since it can only apply a fixed pattern of assistive forces to the arm. In addition, its gravity balance function does not restore full range of motion. Therefore, we are also developing a robotic version of WREX named Pneu-WREX, which can apply a wide range of forces to the arm during naturalistic movements. Pneu-WREX uses pneumatic actuators, non-linear force control, and passive counter-balancing to allow application of a wide range of forces during naturalistic upper extremity movements. Besides a detailed description of the mechanical design and kinematics of Pneu-WREX, we present results from a survey of 29 therapists on the use of such a robotic device.
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