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In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It introduced a new brand of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS proved an excellent fit for shoulder and elbow rehabilitation in stroke patients, showing in...
Robotic therapy systems for stroke rehabilitation typically facilitate the practice of point-to-point reaching tasks utilizing straight trajectories that have zero velocity and acceleration at the beginning and end. In order to understand how to support the performance of real-life activities within a robot-mediated therapy environment, we studied trajectories created by the non-dominant wrist of...
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