%0 Conference Proceedings %B ASME Dynamic Systems and Controls Conference (DSCC) %D 2014 %T SYSTEM CHARACTERIZATION OF MAHI EXO-II: A ROBOTIC EXOSKELETON FOR UPPER EXTREMITY REHABILITATION %A French, James A. %A Rose, Chad G. %A O'Malley, Marcia K. %X
This paper presents the performance characterization of the MAHI Exo-II, an upper extremity exoskeleton for stroke and
spinal cord injury (SCI) rehabilitation, as a means to validate its clinical implementation and to provide depth to the literature on the performance characteristics of upper extremity exoskeletons. Individuals with disabilities arising from stroke and SCI need rehabilitation of the elbow, forearm, and wrist to restore the ability to independently perform activities of daily living (ADL). Robotic rehabilitation has been proposed to address the need for high intensity, long duration therapy and has shown promising results for upper limb proximal joints. However, upper limb distal joints have historically not benefitted from the same focus. The MAHI Exo-II, designed to address this shortcoming, has undergone a static and dynamic performance characterization, which shows that it exhibits the requisite qualities for a rehabilitation robot and is comparable to other state-of-the-art designs.
%B ASME Dynamic Systems and Controls Conference (DSCC) %I ASME %C San Antonio, TX %G eng %> https://mahilab.rice.edu/sites/default/files/publications/DSCC2014-6267.pdf %0 Conference Proceedings %B Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on %D 2013 %T System characterization of RiceWrist-S: A forearm-wrist exoskeleton for upper extremity rehabilitation %A Pehlivan, Ali Utku %A Rose, Chad G. %A O'Malley, Marcia K. %K Actuators %K closed loop position performance %K closed loop systems %K distal joints %K Exoskeletons %K forearm rehabilitation %K forearm-wrist exoskeleton %K Friction %K haptic interface design %K Joints %K medical robotics %K neurological lesions %K neurophysiology %K Patient rehabilitation %K position control %K prosthetics %K RiceWrist-S %K robotic rehabilitation %K Robots %K serial mechanisms %K spatial resolution %K spinal cord injury %K spinal cord injury rehabilitation %K stroke %K stroke rehabilitation %K system characterization %K Torque %K torque output %K upper extremity rehabilitation %K Wrist %K wrist rehabilitation %B Rehabilitation Robotics (ICORR), 2013 IEEE International Conference on %8 June %G eng %R 10.1109/ICORR.2013.6650462 %> https://mahilab.rice.edu/sites/default/files/publications/Pehlivan_RW-S_ICORR2013.pdf