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 -