NDLI: A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design

Content Provider	IEEE Xplore Digital Library
Author	Sanchez Jr.,R.J. Wolbrecht, E. Smith, R. Liu, J. Rao, S. Cramer, S. Rahman, T. Bobrow, J.E. Reinkensmeyer, D.J.
Copyright Year	2005
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA (Sanchez, R.J., Jr.; Wolbrecht, E.; Smith, R.)
Abstract	This paper describes the development of a pneumatic robot for functional movement training of the arm and hand after stroke. The device is based on the Wilmington Robotic Exoskeleton (WREX), a passive, mobile arm support developed for children with arm weakness caused by a debilitative condition. Previously, we scaled WREX for use by adults, instrumented it with potentiometers, and incorporated a simple grip strength sensor. The resulting passive device (Training WREX or "T-WREX") allows individuals with severe motor impairment to practice functional movements (reaching, eating, and washing) in a simple virtual reality environment called Java Therapy 2.0. However, the device is limited since it can only apply a fixed pattern of assistive forces to the arm. In addition, its gravity balance function does not restore full range of motion. Therefore, we are also developing a robotic version of WREX named Pneu-WREX, which can apply a wide range of forces to the arm during naturalistic movements. Pneu-WREX uses pneumatic actuators, non-linear force control, and passive counter-balancing to allow application of a wide range of forces during naturalistic upper extremity movements. Besides a detailed description of the mechanical design and kinematics of Pneu-WREX, we present results from a survey of 29 therapists on the use of such a robotic device.
Starting Page	500
Ending Page	504
File Size	636996
Page Count	5
File Format	PDF
ISBN	0780390032
DOI	10.1109/ICORR.2005.1501151
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pneumatic actuators Java Instruments Exoskeletons Medical treatment Virtual reality Potentiometers Robot sensing systems Mobile robots Gravity
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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