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  • 2014
  • Issue No. 2 - April-June
  • Abstract - Design and Development of an AffordableHaptic Robot with Force-Feedback andCompliant Actuation to Improve Therapyfor Patients with Severe Hemiparesis
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Design and Development of an AffordableHaptic Robot with Force-Feedback andCompliant Actuation to Improve Therapyfor Patients with Severe Hemiparesis
April-June 2014 (vol. 7 no. 2)
pp. 161-174
Andrew Theriault, Dept. of Mech. Eng., Marquette Univ., Milwaukee, WI, USA
Mark Nagurka, Dept. of Mech. Eng., Marquette Univ., Milwaukee, WI, USA
Michelle J. Johnson, Dept. of Phys. Med. & Rehabilitation, Univ. of Pennsylvania, Philadelphia, PA, USA
The study describes the design and development of a single degree-of-freedom haptic robot, Haptic Theradrive, for post-stroke arm rehabilitation for in-home and clinical use. The robot overcomes many of the weaknesses of its predecessor, the TheraDrive system, that used a Logitech steering wheel as the haptic interface for rehabilitation. Although the original TheraDrive system showed success in a pilot study, its wheel was not able to withstand the rigors of use. A new haptic robot was developed that functions as a drop-in replacement for the Logitech wheel. The new robot can apply larger forces in interacting with the patient, thereby extending the functionality of the system to accommodate low-functioning patients. A new software suite offers appreciably more options for tailored and tuned rehabilitation therapies. In addition to describing the design of the hardware and software, the paper presents the results of simulation and experimental case studies examining the system's performance and usability.
Index Terms:
Wheels,Medical treatment,Haptic interfaces,Springs,Torque,Mobile robots,rehabilitation,Haptic applications,haptics technology,force-feedback
Citation:
Andrew Theriault, Mark Nagurka, Michelle J. Johnson, "Design and Development of an AffordableHaptic Robot with Force-Feedback andCompliant Actuation to Improve Therapyfor Patients with Severe Hemiparesis," IEEE Transactions on Haptics, vol. 7, no. 2, pp. 161-174, April-June 2014, doi:10.1109/TOH.2013.51
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