Title :
Reach & Grasp Therapy: Design and Control of a 9-DOF Robotic Neuro-rehabilitation System
Author :
Loureiro, Rui C V ; Harwin, William S.
Author_Institution :
Univ. of Reading, Reading
Abstract :
This paper presents the Gentle/G integrated system for reach & grasp therapy retraining following brain injury. The design, control and integration of an experimental grasp assistance unit is described for use in robot assisted stroke rehabilitation. The grasp assist unit is intended to work with the hardware and software of the Gentle/S robot although the hardware could be adapted to other rehabilitation applications. When used with the Gentle/S robot a total of 6 active and 3 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements in a reach-grasp-transfer-release sequence.
Keywords :
brain; medical robotics; neurophysiology; patient rehabilitation; 9-DOF robotic neurorehabilitation system; Gentle/S robot; brain injury; reach-grasp-transfer-release sequence; robot assisted stroke rehabilitation; Actuators; Control systems; Fingers; Force control; Haptic interfaces; Hardware; Medical treatment; Rehabilitation robotics; Robots; Thumb;
Conference_Titel :
Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on
Conference_Location :
Noordwijk
Print_ISBN :
978-1-4244-1320-1
Electronic_ISBN :
978-1-4244-1320-1
DOI :
10.1109/ICORR.2007.4428510
