Design and Evaluation of the RUPERT Wearable Upper Extremity Exoskeleton Robot for Clinical and In-Home Therapies
- 19 November 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Systems, Man, and Cybernetics: Systems
- Vol. 46 (7), 926-935
- https://doi.org/10.1109/tsmc.2015.2497205
Abstract
A wearable, portable, low-cost, and easy-to-use upper extremity exoskeleton robot, RUPERT, is presented here for clinical and in-home therapies of patients who have survived a stroke. The robot system has five degrees-of-freedom and is driven by compliant and safe pneumatic muscles. Its primary function is to assist the movement of an affected arm in 3-D space and perform a daily training program in a virtual environment. Subjects are recruited for experiments of both clinical and in-home therapies. While using RUPERT, most subjects exhibited significant improvements in various functional measures. During their in-home therapy trials, subjects expressed enthusiasm regarding the modules and the use of our robotic system. The experimental results look promising and the proposed robotic system exhibits a good prospect for a future commercialized in-home therapy product.Keywords
Funding Information
- National Natural Science Foundation of China (61233015, 61473130)
- Program for New Century Excellent Talents in University (NCET-12-0214)
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