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


    Access

    Download


    Export, share and cite



    Title :

    ARMin: a robot for patient-cooperative arm therapy


    Contributors:

    Publication date :

    2007-09-08


    Remarks:

    Nef, Tobias; Mihelj, Matjaz; Riener, Robert (2007). ARMin: a robot for patient-cooperative arm therapy. Medical & Biological Engineering & Computing, 45(9):887-900.



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




    Patient-cooperative robot-aided gait rehablilitation

    Duschau-Wicke, Alexander H. B. | TIBKAT | 2010



    Adaptive patient-cooperative compliant control of lower limb rehabilitation robot

    Lingling Chen / Jiabao Huang / Yanglong Wang et al. | DOAJ | 2024

    Free access