Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb

Nagai, K., Kojima, Y., Yonemoto, T., Okubo, T., Loureiro, R.C.V. and Harwin, W.S. ORCID: https://orcid.org/0000-0002-3928-3381 (2007) Structural design of an escort type rehabilitation robot for post-stroke therapies of upper-limb. In: IEEE 10th International Conference on Rehabilitation Robotics (ICORR 2007), Noordwijk, The Netherlands. doi: 10.1109/ICORR.2007.4428564

Abstract/Summary

This paper describes a structural design technique for rehabilitation robot intended for upper-limb post-stroke therapy. First, a novel approach to a rehabilitation robot is proposed and the features of the robot are explained. Second, the direct kinematics and the inverse kinematics of the proposed robot structure are derived. Finally, a mechanical design procedure is explained that achieves a compromise between the required motion range and assuring the workspace safety. The suitability of a portable escort type structure for upper limb rehabilitation of both acute and chronic stroke is discussed