RUPERT: a Device for Robotic Upper Extremity Repetitive Therapy
RUPERT: a Device for Robotic Upper Extremity Repetitive Therapy
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DOI：
10.1109/iembs.2005.1616077
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
Jiping He;E. Koeneman;R. S. Schultz;D. Herring;J. Wanberg;H. Huang;T. Sugar;R. Herman;J. Koeneman
中科院分区：
文献类型：
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作者：
Jiping He;E. Koeneman;R. S. Schultz;D. Herring;J. Wanberg;H. Huang;T. Sugar;R. Herman;J. Koeneman
我们报告了机器人辅助上肢重复治疗设备(RUPERTRACT)的开发和初步评估。通过患者和康复专家之间的个性化互动提供高强度的重复物理治疗，以克服中风后的上肢功能障碍是有益的，但这些治疗方法费用昂贵，难以定量和客观地评估。迫切需要一种低成本、安全且易于使用的机器人设备来帮助患者和治疗师充分实现基于任务的重复物理治疗的潜在好处。我们设计了一种气动肌肉(PM)驱动的治疗设备RUPERTtrade，它是可穿戴的，在执行几项关键的日常生活任务时提供移动手臂所需的辅助力。该机器人在肩部、肘部和手腕有四个自由度。传感器反馈位置和力信息，用于定量评估任务性能。它有可能提供一种补充治疗的带回家的方法。该设备还可以提供对治疗功能改善的实时、客观评估
We report the development and initial evaluation of a device for robotic assisted upper extremity repetitive therapy (RUPERTtrade). Intense repetitive physical therapies provided by individualized interaction between the patient and a rehabilitation specialist to overcome upper extremity impairment after stroke are beneficial, however, they are expensive and difficult to evaluate quantitatively and objectively. The need is urgent and growing for a low cost, safe and easy to use robotic device to assist the patient and the therapist to fully achieve the potential benefit of task-based repetitive physical therapies. We designed a pneumatic muscle (PM) driven therapeutic device, the RUPERTtrade, that is wearable and provides assistive forces required to move the arm during performance of several critical tasks of daily living. The robot has four degrees of freedom at shoulder, elbow and wrist. The sensors feedback position and force information for quantitative evaluation of task performance. It has the potential of providing a take-home method of supplementing therapy. The device can also provide real-time, objective assessment of functional improvement of therapy