Reach & grasp therapy: Design and control of a 9-DOF robotic neuro-rehabilitation system

Loureiro, R. C. V. and Harwin, W. S. ORCID: https://orcid.org/0000-0002-3928-3381 (2007) Reach & grasp therapy: Design and control of a 9-DOF robotic neuro-rehabilitation system. In: 2007 IEEE 10th International Conference on Rehabilitation Robotics, Vols 1 and 2. International Conference on Rehabilitation Robotics ICORR. IEEE, New York, pp. 757-763. ISBN 9781424413195

Abstract/Summary

This paper presents the Gentle/G integrated system for reach & grasp therapy retraining following brain injury. The design, control and integration of an experimental grasp assistance unit is described for use in robot assisted stroke rehabilitation. The grasp assist unit is intended to work with the hardware and software of the Gentle/S robot although the hardware could be adapted to other rehabilitation applications. When used with the Gentle/S robot a total of 6 active and 3 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements in a reach-grasp-transfer-release sequence.