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

fYear

2007

fDate

13-15 June 2007

Firstpage

757

Lastpage

763

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICORR.2007.4428510

Filename

4428510