Design and analysis of a compliant bimanual rehabilitation device

Bimanual rehabilitation allows an individual with hemiparesis to use their sound arm to help rehabilitate their impaired arm and shows promise as a means of low cost home use rehabilitation. However, few studies have attempted to determine the best combination of bimanual symmetry modes and coupling stiffnesses. To examine the effects of stiffness and symmetry type, we have developed a compliant bimanual rehabilitation device (CBRD) that allows the two hands to be coupled in a variety of symmetry modes and coupling stiffnesses so that their efficacy may be tested. Preliminary analysis has shown that the CBRD can couple the motions of two healthy individuals, which we are using to simulate an individual with a hemiparesis, and improves bimanual task performance of a single individual. The results also show that a higher coupling stiffness reduces the coupling error and that some tasks were easier to complete in visual symmetry.