Title :
Adaptive Training Strategy of Distal Movements by Means of a Wrist-Robot
Author :
Masia, Lorenzo ; Rodriguez, Nestor Nava ; Casadio, Maura ; Morasso, Pietro ; Sandini, Giulio ; Giannoni, Psiche
Author_Institution :
Italian Inst. of Technol. Genoa, Genoa
Abstract :
This paper presents the design, and performance of a high fidelity three degree-of-freedom wrist exoskeleton robot, for neuroscience study, training and rehabilitation. The IIT-Wrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuriesIn the present paper the IIT-Wrist haptic robot is described in terms of kinematics and haptics features to meet specific requirements for a safety human.machine interaction. In relation with a feasibility study in the field of robot therapy a preliminary training of stroke patient was perfrormed. The task consisted in tracking a target using one degree of freedom at time: Flexion/Extension, adduction/abduction, pronation/supination separately. The target motion is harmonic and tracking is aided by a suitable force field. The preliminary study with three patients shows the stability and the efficacy of the control scheme.
Keywords :
handicapped aids; human-robot interaction; humanoid robots; medical robotics; patient rehabilitation; robot kinematics; adaptive training strategy; distal movements; haptic robot; human-machine interaction; kinesthetic feedback; motor skills; neurological injuries; reaching movements rehabilitation; robot-assisted physical therapy; stroke patient; three degree-of-freedom wrist exoskeleton robot; Exoskeletons; Haptic interfaces; Human robot interaction; Kinematics; Medical treatment; Neurofeedback; Neuroscience; Rehabilitation robotics; Target tracking; Wrist; adaptive training; rehabilittation robotics; wrist robot;
Conference_Titel :
Advances in Computer-Human Interactions, 2009. ACHI '09. Second International Conferences on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3351-3
Electronic_ISBN :
978-0-7695-3529-6
DOI :
10.1109/ACHI.2009.60