ARMin: a robot for patient-cooperative arm therapy
Top Cited Papers
Open Access
- 3 August 2007
- journal article
- Published by Springer Science and Business Media LLC in Medical & Biological Engineering & Computing
- Vol. 45 (9), 887-900
- https://doi.org/10.1007/s11517-007-0226-6
Abstract
Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in patients with paralyzed upper extremities due to lesions of the central nervous system. There is evidence that the training duration is a key factor for the therapy progress. Robot-supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the kinematics, the control and the therapy modes of the arm therapy robot ARMin. It is a haptic display with semi-exoskeleton kinematics with four active and two passive degrees of freedom. Equipped with position, force and torque sensors the device can deliver patient-cooperative arm therapy taking into account the activity of the patient and supporting him/her only as much as needed. The haptic display is combined with an audiovisual display that is used to present the movement and the movement task to the patient. It is assumed that the patient-cooperative therapy approach combined with a multimodal display can increase the patient's motivation and activity and, therefore, the therapeutic progress.Keywords
This publication has 31 references indexed in Scilit:
- Motions or muscles? Some behavioral factors underlying robotic assistance of motor recoveryJournal of Rehabilitation Research and Development, 2006
- Patient-cooperative strategies for robot-aided treadmill training: first experimental resultsIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2005
- Computerized Arm Training Improves the Motor Control of the Severely Affected Arm After StrokeStroke, 2005
- The Role of Task-Specific Training in Rehabilitation TherapiesTopics in Stroke Rehabilitation, 2005
- Virtual reality-enhanced stroke rehabilitationIEEE Transactions on Neural Systems and Rehabilitation Engineering, 2001
- Intensity of leg and arm training after primary middle-cerebral-artery stroke: a randomised trialThe Lancet, 1999
- Effects of Intensity of Rehabilitation After StrokeStroke, 1997
- Design and evaluation of a high-performance haptic interfaceRobotica, 1996
- Enhanced physical therapy improves recovery of arm function after stroke. A randomised controlled trial.Journal of Neurology, Neurosurgery & Psychiatry, 1992
- Impedance Control: An Approach to Manipulation: Part III—ApplicationsJournal of Dynamic Systems, Measurement, and Control, 1985