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Passive and active movement therapies are essential in the rehabilitation process post stroke and other neurological disorders. Considering the shortage of therapists and limited insurance coverage, qualified healthcare services are not always available to patients. There is also a lack of compact rehabilitation robots powerful enough to perform forceful stretching of spastic joint and yet flexible...
The current study introduces a novel rehabilitation robot for treatment of impaired ankle in children with cerebral palsy (CP). The treatment consisted of passive stretching under intelligent control and active movement training with motivating game-playing using the portable robot. After 18 sessions of training (3 sessions/week for 6 weeks), we found significant improvement in 12 children with CP...
A portable ankle rehabilitation robot with intelligent stretching and game-based active movement training was used to treat the spastic impaired ankle of children with cerebral palsy over six weeks. The subject's calf muscles and Achilles tendon properties were evaluated before and after treatment using ultrasonography and biomechanical measures. It was found that there were decreased Achilles tendon...
There is a lack of enough attention to the patients' hand posture. When robots implement assistive training, patients are often asked to grip a handle tightly, which may induce strong hand muscle contractions with the hand at an abnormal posture. If we ignore proper control of the muscle tension of subject's hand, the flexibility of hand/fingers may decrease and the robot training may potentially...
This paper presents a novel 7 (active) +2 (passive) degrees of freedom (DOF) exoskeleton to achieve effective rehabilitation of upper limbs with neurological impairment. The 7+2 DOF robot was designed for allowing anatomically correct motions in the upper extremity, and for measuring 18 axis forces/torques and 9 DOF positions. A novel four-step integrated rehabilitation approach was developed and...
A portable teleassessment system was designed for remote evaluation of elbow impairments in patients with neurological disorders. A master device and a slave device were used to drive a mannequin arm and the patient's arm, respectively. The elbow flexion angle and torque were measured at both the master and slave devices, and sent to each other for teleoperation. To evaluate spasticity/contracture...
Arm impairments in patients post stroke involve the shoulder, elbow and wrist simultaneously. Patients may develop spasticity and reduced range of motion (ROM) at the multiple joints with abnormal couplings between the multiple joints and between the multiple degrees of freedom (DOF). They may lose independent control of individual joints and coordination among the joints. This project is aimed at...
A portable tele-assessment system was designed for remote evaluation of the elbow joint with spasticity and contracture in patients with neurological disorders. A master device and a slave device were used to drive a manikin arm and the patient's arm, respectively. The elbow flexion angle and torque were measured at both the master and slave devices, fed back to their counterparts. The examiner moved...
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