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ARMin: a robot for patient-cooperative arm therapy


Nef, Tobias; Mihelj, Matjaz; Riener, Robert (2007). ARMin: a robot for patient-cooperative arm therapy. Medical & Biological Engineering & Computing, 45(9):887-900.

Abstract

Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in patients with paralyzed upper extremities due to lesions of the central nervous system. There is evidence that the training duration is a key factor for the therapy progress. Robot-supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the kinematics, the control and the therapy modes of the arm therapy robot ARMin. It is a haptic display with semi-exoskeleton kinematics with four active and two passive degrees of freedom. Equipped with position, force and torque sensors the device can deliver patient-cooperative arm therapy taking into account the activity of the patient and supporting him/her only as much as needed. The haptic display is combined with an audiovisual display that is used to present the movement and the movement task to the patient. It is assumed that the patient-cooperative therapy approach combined with a multimodal display can increase the patient's motivation and activity and, therefore, the therapeutic progress

Abstract

Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in patients with paralyzed upper extremities due to lesions of the central nervous system. There is evidence that the training duration is a key factor for the therapy progress. Robot-supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the kinematics, the control and the therapy modes of the arm therapy robot ARMin. It is a haptic display with semi-exoskeleton kinematics with four active and two passive degrees of freedom. Equipped with position, force and torque sensors the device can deliver patient-cooperative arm therapy taking into account the activity of the patient and supporting him/her only as much as needed. The haptic display is combined with an audiovisual display that is used to present the movement and the movement task to the patient. It is assumed that the patient-cooperative therapy approach combined with a multimodal display can increase the patient's motivation and activity and, therefore, the therapeutic progress

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:National licences > 142-005
Dewey Decimal Classification:610 Medicine & health
Scopus Subject Areas:Physical Sciences > Biomedical Engineering
Physical Sciences > Computer Science Applications
Language:English
Date:8 September 2007
Deposited On:04 Jul 2019 12:19
Last Modified:31 Jul 2020 02:51
Publisher:Springer
ISSN:0140-0118
OA Status:Green
Publisher DOI:https://doi.org/10.1007/s11517-007-0226-6
Related URLs:https://www.swissbib.ch/Search/Results?lookfor=nationallicencespringer101007s1151700702266 (Library Catalogue)
PubMed ID:17674069

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