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ISSN: 1939-1412
Andrew Theriault , Marquette University, Milwaukee
Mark Nagurka , Marquette University, Milwaukee
Michelle J. Johnson , Marquete University, Milwaukee, Medical College of Wisconsin, Milwaukee, and University of Pennsylvania, Philadelphia
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 system, the paper presents the results of simulation and experimental case studies examining the system's performance and usability.
Haptics Technology, Haptics Applications

A. Theriault, M. Nagurka and M. J. Johnson, "Design and Development of an Affordable Haptic Robot with Force-Feedback and Compliant Actuation to Improve Therapy for Patients with Severe Hemiparesis," in IEEE Transactions on Haptics.
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