Well is your hospital incompetent for the last 21 years? What is their excuse for not doing this? I'd fire everyone involved starting with the board of directors.
Design and Characterization of Hand Module for Whole-Arm Rehabilitation Following Stroke
2000, IEEE/ASME Transactions on Mechatronics
Published in final edited form as:
IEEE ASME Trans Mechatron
. 2007 August 1; 12(4): 399–407. doi:10.1109/TMECH.2007.901928.
L. Masia
,Robotics, Brain and Cognitive Science Department, Italian Institute of Technology, 16163 Genoa,Italy.
Hermano Igo Krebs [Senior Member, IEEE]
,Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA02139-4307, USA.
P. Cappa
, andDepartment of Mechanics and Aeronautics, “Sapienza” University of Rome, 00184 Rome, Italy.
N. Hogan
Department of Mechanical Engineering and Department of Cognitive Sciences, MassachusettsInstitute of Technology, Cambridge, MA 02139-1307 USA.
L. Masia: lorenzo.masia@iit.it; Hermano Igo Krebs: hikrebs@mit.edu; P. Cappa: paolo.cappa@uniroma1.it; N. Hogan:neville@mit.edu
Abstract
In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neurorehabilitation of motor function. It introduced a newmodality of therapy, offering a highly backdrivable experience with a soft and stable feel for the user.MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients,showing a reduction of impairment in clinical trials with well over 300 stroke patients. The greatest impairment reduction was observed in the group of muscles exercised. This suggests a need for additional robots to rehabilitate other target areas of the body. Previous work has expanded the planar MIT-MANUS to include an antigravity robot for shoulder and elbow, and a wrist robot. In this paper we present the “missing link”: a hand robot. It consists of a single-degree-of-freedom (DOF)mechanism in a novel statorless configuration, which enables rehabilitation of grasping. The systemuses the kinematic configuration of a double crank and slider where the members are linked to stator and rotor; a free base motor, i.e., a motor having two rotors that are free to rotate instead of a fixed stator and a single rotatable rotor (dual-rotor statorless motor). A cylindrical structure, made of six panels and driven by the relative rotation of the rotors, is able to increase its radius linearly, moving or guiding the hand of the patients during grasping. This module completes our development of robots for the upper extremity, yielding for the first time a whole-arm rehabilitation experience. In this paper, we will discuss in detail the design and characterization of the device.
Copyright © 2007 IEEE Recommended by Guest Editors P. Dario and A. Menciassi.Reprinted from IEEE/ASME Transactions on Mechatronics.This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of this web site's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republishthis material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
NIH Public Access
Author Manuscript
IEEE ASME Trans Mechatron
. Author manuscript; available in PMC 2010 March 11.
Published in final edited form as:
IEEE ASME Trans Mechatron
. 2007 August 1; 12(4): 399–407. doi:10.1109/TMECH.2007.901928.
Published in final edited form as:
IEEE ASME Trans Mechatron
. 2007 August 1; 12(4): 399–407. doi:10.1109/TMECH.2007.901928.
L. Masia
,Robotics, Brain and Cognitive Science Department, Italian Institute of Technology, 16163 Genoa,Italy.
Hermano Igo Krebs [Senior Member, IEEE]
,Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA02139-4307, USA.
P. Cappa
, andDepartment of Mechanics and Aeronautics, “Sapienza” University of Rome, 00184 Rome, Italy.
N. Hogan
Department of Mechanical Engineering and Department of Cognitive Sciences, MassachusettsInstitute of Technology, Cambridge, MA 02139-1307 USA.
L. Masia: lorenzo.masia@iit.it; Hermano Igo Krebs: hikrebs@mit.edu; P. Cappa: paolo.cappa@uniroma1.it; N. Hogan:neville@mit.edu
Abstract
In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neurorehabilitation of motor function. It introduced a newmodality of therapy, offering a highly backdrivable experience with a soft and stable feel for the user.MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients,showing a reduction of impairment in clinical trials with well over 300 stroke patients. The greatest impairment reduction was observed in the group of muscles exercised. This suggests a need for additional robots to rehabilitate other target areas of the body. Previous work has expanded the planar MIT-MANUS to include an antigravity robot for shoulder and elbow, and a wrist robot. In this paper we present the “missing link”: a hand robot. It consists of a single-degree-of-freedom (DOF)mechanism in a novel statorless configuration, which enables rehabilitation of grasping. The systemuses the kinematic configuration of a double crank and slider where the members are linked to stator and rotor; a free base motor, i.e., a motor having two rotors that are free to rotate instead of a fixed stator and a single rotatable rotor (dual-rotor statorless motor). A cylindrical structure, made of six panels and driven by the relative rotation of the rotors, is able to increase its radius linearly, moving or guiding the hand of the patients during grasping. This module completes our development of robots for the upper extremity, yielding for the first time a whole-arm rehabilitation experience. In this paper, we will discuss in detail the design and characterization of the device.
Copyright © 2007 IEEE Recommended by Guest Editors P. Dario and A. Menciassi.Reprinted from IEEE/ASME Transactions on Mechatronics.This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of this web site's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republishthis material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
NIH Public Access
Author Manuscript
IEEE ASME Trans Mechatron
. Author manuscript; available in PMC 2010 March 11.
Published in final edited form as:
IEEE ASME Trans Mechatron
. 2007 August 1; 12(4): 399–407. doi:10.1109/TMECH.2007.901928.
No comments:
Post a Comment