Task based repetitive therapy has been proposed as a promising approach to train stroke survivors to regain functional control of arm movement. The hypothesis is that such intensive therapeutic approach can induce the desirable neural plasticity or adaptation to compensate for the damage in central nervous system. We have developed a wearable exoskeleton rehabilitation robot, the associated control algorithm, the framework for automated and customizable therapy sessions, safety protection mechanisms, and a graphic user interface that is easy to use and intuitive to the patients and therapists. The system was first tested in a laboratory setting on 6 stroke survivors on 3 weekly visits. Each patient went through a four-week period of robot assisted therapy. We then conducted at-home therapy for 2 subjects who used the system for arm function therapy at least once daily. Both the patients and the spouses are favorably impressed by this system setup, which stresses for training the arm movement according to a video game. After one week, they have already increased the practice intensity to twice a day with evidence of competency in motor control for more demanding tasks. The therapeutic effect of repetitive therapy will be best realized by long term and multiple intensive sessions per day. Such approach is feasible by robotic assisted setup at-home. Our approach will provide valuable information on determining therapy intensity and repetitions and monitoring progress.

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