NDLI: Mechanical design of RiceWrist-S: A forearm-wrist exoskeleton for stroke and spinal cord injury rehabilitation

Content Provider	IEEE Xplore Digital Library
Author	Pehlivan, A.U. Sangyoon Lee O'Malley, M.K.
Copyright Year	2012
Description	Author affiliation: Mechatronics and Haptic Interfaces Laboratory, Department of Mechanical Engineering and Materials Science, Rice University, Houston, TX 77005 (Pehlivan, A.U.; Sangyoon Lee; O'Malley, M.K.)
Abstract	Robotic rehabilitation of individuals with neurological lesions from stroke or spinal cord injuries is promising in that robots can provide intensive therapy and enable quantitative and objective assessment of motor impairment. Robotic devices for the upper extremity have primarily focused on the proximal joints, with only a few devices designed specifically for forearm and wrist rehabilitation, which is critical for the restoration of independence in activities of daily living. Previous robotic systems have neglected degrees-of-freedom at the wrist, or have offered limited range of motion or torque output capability. In this paper, we present the kinematic design of a serial mechanism, the RiceWrist-S, for forearm and wrist rehabilitation, and compare its range of motion and torque output capabilities to a previously reported parallel mechanism and to requirements developed from assessment of daily activities. The RiceWrist-S design meets or exceeds targets for range of motion and torque in all degrees of freedom.
Starting Page	1573
Ending Page	1578
File Size	1670201
Page Count	6
File Format	PDF
ISBN	9781457711992
ISSN	21551774
e-ISBN	9781457712005
DOI	10.1109/BioRob.2012.6290912
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-24
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist stroke rehabilitation Actuators Torque Exoskeletons serial mechanisms haptic interface design Joints Robots spinal cord injury rehabilitation
Content Type	Text
Resource Type	Article

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