Design and acceptability assessment of a new reversible orthosis

We present a new device aimed at being used for upper limb rehabilitation. Our main focus was to design a robot capable of working in both the passive mode (i.e. the robot shall be strong enough to generate human-like movements while guiding the weak arm of a patient) and the active mode (i.e. the robot shall be able of following the arm without disturbing human natural motion). This greatly challenges the design, since the system shall be reversible and lightweight while providing human compatible strength, workspace and speed. The solution takes the form of an orthotic structure, which allows control of human arm redundancy contrarily to clinically available upper limb rehabilitation robots. It is equipped with an innovative transmission technology, which provides both high gear ratio and fine reversibility. In order to evaluate the device and its therapeutic efficacy, we compared several series of pointing movements in healthy subjects wearing and not wearing the orthotic device . In this way, we could assess any disturbing effect on normal movements. Results show that the main movement characteristics (direction, duration, bell shape profile) are preserved. ©2008 IEEE.

Published in:
Intelligent Robots and Systems 2008, 1933-1939
Presented at:
IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, Sept. 22-26, 2008
CEA, LIST, Service de Robotique Interactive, 18 route du Panorama, 92265 Fontenay-aux-Roses, France; ISIR (Institut des Systèmes Intelligents et de Robotique), ISIR-UPMC (Inst. des Syst. Intelligents et Robotique from Universite Pierre et Marie Curie Paris VI), 4 Place Jussieu, 75252, Paris Cedex, France; LNP (Laboratory of Neurophysics and Physiology), Université René Descartes Paris V, 45 rue des Saints Pères, 75270 Paris Cedex 06, France; Sensorimotricy Platform of Université René Descartes Paris V, 45 rue des Saints Pères, 75270 Paris Cedex 06, France, Cited By (since 1996): 2, Export Date: 15 August 2012, Source: Scopus, Art. No.: 4651014

 Record created 2012-09-18, last modified 2018-09-13

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