TY - JOUR T1 - Design, control and performance of RiceWrist: A force feedback wrist exoskeleton for rehabilitation and training JF - International Journal of Robotics Research Y1 - 2008 A1 - Abhishek Gupta A1 - O'Malley, M.K. A1 - Volkan Patoglu A1 - Burgar, Charles KW - Control systems KW - Degrees of freedom (mechanics) KW - Feedback KW - Neurology KW - Physical therapy KW - Systems analysis AB -

This paper presents the design, control and performance of a high fidelity four degree-of-freedom wrist exoskeleton robot, RiceWrist, for training and rehabilitation. The RiceWrist 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 injuries. The exoskeleton device accommodates forearm supination and pronation, wrist flexion and extension and radial and ulnar deviation in a compact parallel mechanism design with low friction, zero backlash and high stiffness. As compared to other exoskeleton devices, the RiceWrist allows easy measurement of human joint angles and independent kinesthetic feedback to individual human joints. In this paper, joint-space as well as task-space position controllers and an impedance-based force controller for the device are presented. The kinematic performance of the device is characterized in terms of its workspace, singularities, manipulability, backlash and backdrivability. The dynamic performance of RiceWrist is characterized in terms of motor torque output, joint friction, step responses, behavior under closed loop set-point and trajectory tracking control and display of virtual walls. The device is singularity-free, encompasses most of the natural workspace of the human joints and exhibits low friction, zero-backlash and high manipulability, which are kinematic properties that characterize a high-quality impedance display device. In addition, the device displays fast, accurate response under position control that matches human actuation bandwidth and the capability to display sufficiently hard contact with little coupling between controlled degrees-of-freedom.

VL - 27 UR - http://dx.doi.org/10.1177/0278364907084261 N1 -

Feedback wrist exoskeleton;Neurological injuries;

ER - TY - Generic T1 - The RiceWrist: A distal upper extremity rehabilitation robot for stroke therapy T2 - ASME Dynamic Systems and Control Division, 2006 International Mechanical Engineering Congress and Exposition Y1 - 2006 A1 - O'Malley, M.K. A1 - Alan Sledd A1 - Abhishek Gupta A1 - Volkan Patoglu A1 - Joel C. Huegel A1 - Burgar, Charles KW - Degrees of freedom (mechanics) KW - Graphical user interfaces KW - Human rehabilitation equipment KW - Patient treatment AB -

This paper presents the design and kinematics of a four degree-of-freedom upper extremity rehabilitation robot for stroke therapy, to be used in conjunction with the Mirror Image Movement Enabler (MIME) system. The RiceWrist is intended to provide robotic therapy via force-feedback during range-of-motion tasks. The exoskeleton device accommodates forearm supination and pronation, wrist flexion and extension, and radial and ulnar deviation in a compact design with low friction and backlash. Joint range of motion and torque output of the electricmotor driven device is matched to human capabilities. The paper describes the design of the device, along with three control modes that allow for various methods of interaction between the patient and the robotic device. Passive, triggered, and active-constrained modes, such as those developed for MIME, allow for therapist control of therapy protocols based on patient capability and progress. Also presented is the graphical user interface for therapist control of the interactions modes of the RiceWrist, basic experimental protocol, and preliminary experimental results. Copyright © 2006 by ASME.

JF - ASME Dynamic Systems and Control Division, 2006 International Mechanical Engineering Congress and Exposition PB - ASME CY - Chicago, IL, United States N1 -

Mirror Image Movement Enabler (MIME) system;Rehabilitation robot;Robotic therapy;

ER -