ARMin III --arm therapy exoskeleton with an ergonomic shoulder actuation
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TLDR
In this article, a new ergonomic shoulder actuation principle that provides motion of the humerus head is proposed, and its implementation in the ARMin III arm therapy robot is described.Abstract:
Rehabilitation robots have become important tools in stroke rehabilitation. Compared to manual arm training, robot-supported training can be more intensive, of longer duration and more repetitive. Therefore, robots have the potential to improve the rehabilitation process in stroke patients. Whereas a majority of previous work in upper limb rehabilitation robotics has focused on end-effector-based robots, a shift towards exoskeleton robots is taking place because they offer a better guidance of the human arm, especially for movements with a large range of motion. However, the implementation of an exoskeleton device introduces the challenge of reproducing the motion of the human shoulder, which is one of the most complex joints of the body. Thus, this paper starts with describing a simplified model of the human shoulder. On the basis of that model, a new ergonomic shoulder actuation principle that provides motion of the humerus head is proposed, and its implementation in the ARMin III arm therapy robot is described. The focus lies on the mechanics and actuation principle. The ARMin III robot provides three actuated degrees of freedom for the shoulder and one for the elbow joint. An additional module provides actuated lower arm pro/supination and wrist flexion/extension. Five ARMin III devices have been manufactured and they are currently undergoing clinical evaluation in hospitals in Switzerland and in the United States.read more
Citations
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Journal ArticleDOI
Exoskeleton robots for upper-limb rehabilitation: State of the art and future prospects
Ho Shing Lo,Sheng Quan Xie +1 more
TL;DR: The recent progress of upper limb exoskeleton robots for rehabilitation treatment of patients with neuromuscular disorders and the fundamental challenges in developing these devices are described.
Journal ArticleDOI
Three-dimensional, task-specific robot therapy of the arm after stroke: a multicentre, parallel-group randomised trial
Verena Klamroth-Marganska,Verena Klamroth-Marganska,Javier Blanco,Katrin Campen,Armin Curt,Volker Dietz,Thierry Ettlin,Morena Felder,Bernd A. G. Fellinghauer,Marco Guidali,Marco Guidali,Anja Kollmar,Anja Kollmar,Andreas R. Luft,Tobias Nef,Corina Schuster-Amft,Werner A. Stahel,Robert Riener,Robert Riener +18 more
TL;DR: Neurorehabilitation therapy including task-oriented training with an exoskeleton robot can enhance improvement of motor function in a chronically impaired paretic arm after stroke more effectively than conventional therapy.
Journal ArticleDOI
Design of a Cable-Driven Arm Exoskeleton (CAREX) for Neural Rehabilitation
Ying Mao,Sunil K. Agrawal +1 more
TL;DR: This paper is the first to demonstrate via experiments with cable-driven arm exoskeleton (CAREX) that it is possible to achieve desired forces on the hand, i.e., both pull and push, in any direction as required in neural training.
Journal ArticleDOI
Developments in hardware systems of active upper-limb exoskeleton robots
TL;DR: The major developments occurred in the history, the key milestones during the evolution and major research challenges in the present day context of hardware systems of upper-limb exoskeleton robots are presented.
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Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke.
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