Development and Evaluation of a Gravity Compensated Training Environment for Robotic Rehabilitation of Post-Stroke Reaching

被引：20

作者：

Beer, Randall F. ^{[1
]}

Naujokas, Chengchi ^{[1
]}

Bachrach, Benjamin ^{[2
]}

Mayhew, David ^{[2
]}

机构：

[1] Rehabil Inst Chicago, Chicago, IL 60611 USA

[2] Intelligent Automat Inc, Rockville 20285, MD USA

来源：

2008 2ND IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB 2008), VOLS 1 AND 2 | 2008年

关键词：

D O I：

10.1109/BIOROB.2008.4762863

中图分类号：

Q81 [生物工程学（生物技术）]; Q93 [微生物学];

学科分类号：

071005 ; 0836 ; 090102 ; 100705 ;

摘要：

External support of the arm against gravity has a beneficial impact on reaching movements performed by moderately and severely impaired stroke survivors. Provision of scalable gravity compensation may therefore be an important component of robot-based upper limb rehabilitation. This study reports the development and initial evaluation of a scalable gravity-compensated training environment based on the haptic capabilities of the MACARM cable robot. The feasibility of end-point force compensation for gravity torques at the shoulder and elbow is evaluated for movements performed in a vertical plane. Our Progressive Support Training approach is described in detail and the initial results of testing with human subjects are reported.

引用

页码：205 / +

页数：2

共 28 条

[1]

BARD GREGORY, 1965, ARCH PHYS MED REHABIL, V46, P567

[2] Impact of gravity loading on post-stroke reaching and its relationship to weakness [J].