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Author Beekhuis, J.H. ♦ Westerveld, A.J. ♦ van der Kooij, H. ♦ Stienen, A.H.A.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2013
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Performance evaluation ♦ Torque ♦ Exoskeletons ♦ diagnosis ♦ Iron ♦ training ♦ stroke ♦ Read only memory ♦ self-alignment ♦ Wrist ♦ wrist and forearm ♦ Rehabilitation robotics ♦ self-aligning exoskeleton ♦ Joints
Abstract Rehabilitation robotics provides a means of objectively quantifying patient condition before, during and after treatment. This paper describes the design and preliminary validation results of a novel rehabilitation device for the human wrist and forearm. The design features two key aspects: 1) it performs dynamical self-alignment to compensate for misalignment of the human limb and 2) it assists movements within almost the full natural range of motion. Self-alignment is performed by a linkage of parallelograms that allows torque-driven actuation. Advantages are decreased user-device interaction forces and lower don/doff-and setup-times. The full natural range of motion in Flexion/Extension, Radial/Ulnar-deviation and Pronation/Supination allows patients to perform ADL-like exercises during training. Furthermore, in the current design the hand and fingers remain free to perform grabbing activities and the open structure provides simple connection to the patients limb.
Description Author affiliation: Lab. of Biomech. Eng., Univ. of Twente, Enschede, Netherlands (Beekhuis, J.H.; Westerveld, A.J.; van der Kooij, H.; Stienen, A.H.A.)
ISBN 9781467360227
ISSN 19457901
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2013-06-24
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781467360241
Size (in Bytes) 2.21 MB
Page Count 5
Starting Page 1
Ending Page 5

Source: IEEE Xplore Digital Library