E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability

E2Rebot: A robotic platform for upper limb rehabilitation in patients with neuromotor disability

The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human saf...

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Bibliographic Details
Published in:Advances in mechanical engineering Vol. 8; no. 8
Main Authors: Fraile, Juan C, Pérez-Turiel, Javier, Baeyens, Enrique, Viñas, Pablo, Alonso, Rubén, Cuadrado, Alejandro, Franco-Martín, Manuel, Parra, Esther, Ayuso, Laureano, García-Bravo, Francisco, Nieto, Félix, Laurentiu, Lipsa
Format: Journal Article
Language:English
Published: London, England SAGE Publications 01-08-2016
Sage Publications Ltd
SAGE Publishing
Subjects:
Authorship
Brain
Brain research
Control algorithms
Design
Disabilities
Head injuries
Limbs
Patient safety
Patients
Platforms
Rehabilitation
Rehabilitation robots
Robotics
Robots
Safety
Stroke
Therapy
Trauma
Traumatic brain injury
United States > US
rehabilitation
force sensor
ergonomic design
impedance-based controller
haptic control
neuromotor disabilities
Robot
assist as needed
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Summary:The use of robotic platforms for neuro-rehabilitation may boost the neural plasticity process and improve motor recovery in patients with upper limb mobility impairment as a consequence of an acquired brain injury. A robotic platform for this aim must provide ergonomic and friendly design, human safety, intensive task-oriented therapy, and assistive forces. Its implementation is a complex process that involves new developments in the mechanical, electronics, and control fields. This article presents the end-effector rehabilitation robot, a 2-degree-of-freedom planar robotic platform for upper limb rehabilitation in patients with neuromotor disability after a stroke. We describe the ergonomic mechanical design, the system control architecture, and the rehabilitation therapies that can be performed. The impedance-based haptic controller implemented in end-effector rehabilitation robot uses the information provided by a JR3 force sensor to achieve an efficient and friendly patient–robot interaction. Two task-oriented therapy modes have been implemented based on the “assist as needed” paradigm. As a result, the amount of support provided by the robot adapts to the patient’s requirements, maintaining the therapy as intensive as possible without compromising the patient’s health and safety and promoting engagement.
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ISSN:1687-8132
1687-8140
DOI:10.1177/1687814016659050