Shoulder actuation mechanisms for arm rehabilitation exoskeletons

Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Volumn , Issue , 2008, Pages 862-868

  Nef, Tobias ^a,b   Riener, Robert ^a,c  

^a ETH ZURICH   (Switzerland)

^b NATIONAL REHABILITATION HOSPITAL   (United States)

^c BALGRIST UNIVERSITY HOSPITAL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

MOTION CONTROL; PATIENT REHABILITATION; ROBOTS; SHOULDERS (ROAD);

ACTUATION MECHANISMS; ACTUATION PRINCIPLES; END-EFFECTOR; EXOSKELETON ROBOTS; GLENOHUMERAL JOINTS; HUMAN JOINTS; HUMAN SHOULDERS; QUANTITATIVE ANALYSIS; REHABILITATION ROBOTS; STROKE PATIENTS; STROKE REHABILITATIONS; UPPER EXTREMITIES;

ROBOTICS;

EID: 63049113793     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/BIOROB.2008.4762794     Document Type: Conference Paper

References (42)

1. R. Wayne et al. "Heart Disease and Stroke Statistics - 2007 Update. A Report from the American Heart Association Statistics Committee and Stroke Statistics Subcommittee." Circulation published by the American Hearth Association 2006. 7272 Greenville Avenue, Dallas, Texas.
2. H.C. Maeurer, H.C. Diener, "Der Schlaganfall", Georg 1996.
3. T. Platz, "Evidenzbasierte Armrehabilitation: Eine systematische Literaturübersicht." Nervenarzt 2003, 74:841-849.
4. G. Nelles "Cortical reorganization- effects of intensive therapy. "Archives of Physical Medicine and Rehabiliation 2004, 22:239-244.
5. G. Kwakkel, R.C. Wagenaar, T.W. Koelman, G.J. Lankhorst, J.C.Koetsier, "Effects of intensity of rehabilitation after stroke. A researchsynthesis." Stroke 1997:28, 1550-1556.
6. A. Sunderland, D.J. Tinson, E.L. Bradley, D. Fletcher, H.R. Langton,and D.T. Wade, "Enhanced physical therapy improves recovery of armfunction after stroke. A randomised clinical trial." J Neurol Neursurg Psychiatry 1992, 55:530-535.
7. G. Kwakkel, R.C. Wagenaar, J.W.E. Twisk, G.J. Langkhorst, and J.C. Koetsier. "Intersity of leg and arm training after primary middlecelebral artery stroke: a randomised trial." Lancet, 1999,35:191-196.
8. G. Kwakkel, B.J. Kollen, and R.C. Wagenaar, "Long therm effects of upper and lower limb training after stroke: a randomised trial." J. Neurol. Neurosurg. Psychiat., 2002, 72:473-479.
9. C. Butefisch, H. Hummelsheim, P. Denzler, and K.H. Mauritz, "Repetitive training of isolated movements improves the outcome of motor rehabilitation of the centrally paretic hand." J Neurol Sci 1995, 130:59-68.
10. N.A. Bayona, J. Bitensky, K. Salter, and R. Teasell, "The role of taskspecific training in rehabilitation therapies." Top Stroke Rehabil 2005, 12:58-65.
11. T. Nef, M. Mihelj, G. Colombo, R. Riener, "ARMin - Robot for Rehabilitation of the Upper Extremities." IEEE ICRA International Conference on Robotics and Automation 2006, 3152-3157.
12. M. Mihelj, T. Nef, R. Riener, ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics, IEEE International conference on Robotics and Automation, Rome, Italy, pp. 4120-4125, 10-14 April 2007
13. T. Nef, M. Mihelj, G. Kiefer, C. Perndl, R. Müller, R. Riener, ARMin - Exoskeleton for Arm Therapy in Stroke Patients, Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands, pp. 68-74, 2007
14. R. Riener, L. Lünenburger, S. Jezernik, M. Anderschitz, G. Colombo, V. Dietz "Cooperative subject-centered strategies for robot-aided treadmill training: first experimental results." IEEE Transactions on Neural Systems and Rehabilitation Engineering 13:380-393.
15. M. Mihelj, T. Nef, R. Riener, A novel paradigm for patient cooperative control of upper limb rehabilitation robots. Advanced Robotics, 21(8):843-867, 2007
16. T. Nef, M. Mihelj, R. Riener, ARMin -A Robot for Patient-Cooperative Arm Therapy, Medical and Biological Engineering & Computing, 2007 Sep; 45(9):887-900
17. R. Riener, T. Nef, G. Colombo,"Robot-aided Neurorehabilitation for the Upper Extremities." Medical & Biological Engineering & Computing 2005b, 43:2-10.
18. G.B. Prange, M.J. Jannink, C.G. Groothuis-Oudshoorn, H.J. Hermens, M.J. IJzerman, "Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke.", J Rehabil Res Dev, 2006 Mar- Apr;43(2):171-84.
19. S.E. Fasoli, H.I. Krebs, M. Ferraro, N Hogan, B.T. Volpe, "Does shorter rehabilitation limit potential recovery poststroke?" Neurorehabil Neural Repair 2004;18(2):88-94.
20. D.J. Reinkensmeyer, L.E. Kahn, M. Averbuch, A. McKenna-Cole, B.D. Schmit, W.Z. Rymer, Understanding and treating arm movement impairment after chronic brain injury: progress with the ARM guide." J Rehabil Res Dev. 2000; 37(6):653-62.
21. P.S Lum, C.G. Burgar, P.C. Shor, "Evidence for improved muscle activation patterns after retraining of reaching movements with the MIME robotic system in subjects with poststroke hemiparesis." IEEE Trans Neural Syst Rehabil Eng. 2004;12(2):186-94.
22. S. Hesse, C. Werner, M. Pohl, S. Rueckriem, J. Mehrholz, M.L. Lingnau. "Computerized arm training improves the motor control of the severely affected arm after stroke: a singe-blinded randomized trial in two centers." Stroke. 2005;36(9):1960-66.
23. S. Coote, E. Stokes, B. Murphy, W. Harwin, "The effect of GENTLE/s robotmediated therapy on upper extremity dysfunction post stroke." In: Proceedings of the 8th International Conference on Rehabilitation Robotics; 2003 Apr 23-25; Daejeon, Korea. Daejeon (Korea): Human-Friendly Welfare Robot System Engineering Research Center; 2003. p. 59-61.
24. C. Fanin, P. Gallina, A. Rossi, U. Zanatta, S. Masiero, "NeRe- Bot: a wirebased robot for neurorehabilitation." In: Proceedings of the 8th International Conference on Rehabilitation Robotics; 2003 Apr 23-25; Daejeon, Korea. Daejeon (Korea): Human-Friendly Welfare Robot System Engineering Research Center; 2003. p. 23-26.
25. J. Dewald, M.D. Ellis, B.G. Holubar, T. Sukal, A.M. Acosta."The robot application in the rehabilitation of stroke patients" [Abstract]. Neurol Rehabil. 2004;(4):S7
26. Stienen A, Aalsma A,Hekman E,Jannink M,Prange G,Van der Helm F,van der Kooij H,Dampace: dynamic force-coordination trainer for the upper extremities. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands, pp. 820-826, 2007
27. Sanchez RJ, Liu J, Rao S, Shah P, Smith R, Rahman T, Cramer SC, Bobrow JE, Reinkensmeyer DJ. Automating Arm Movement Training Following Severe Stroke: Functinal Exercise With Quantitative Feedback in a Gravity-Reduced Environment. IEEE Trans Neural Syst Rehabil Eng 2006, 14(3):378-389.
28. Carignan C, Liszka M, "Design of an arm exoskeleton with scapula motion for shoulder rehabilitation," Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on, vol., no.pp. 524-531, July 18-20, 2005
29. Bergamasco M,Borelli L,Carboncini MC,Frisoli A,Marcheschi S,Montagner A,Procopio C,Rossi B,Salsedo F,Tolaini M,Arm rehabilitation with a robotic exoskeleleton in Virtual Reality. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands, pp. 631-642, 2007
30. Rosen, J.; Perry, J.C.; Manning, N; Burns, S.; Hannaford, B., "The human arm kinematics and dynamics during daily activities - toward a 7 DOF upper limb powered exoskeleton," Advanced Robotics, 2005. ICAR '05. Proceedings., 12th International Conference on, vol., no., pp. 532-539, July 18-20, 2005
31. Schiele A, Frans C.T. van der Helm. Kinematic Design to Improve Ergonomics in Human Machine Interaction, IEEE Transaction on Neural Systems and Rehabilitation Engineering, Vol. 14, No. 4, pp. 456-469, December 2006
32. Lenarcic J, Stanisic M, "A humanoid shoulder complex and the humeral pointing kinematics," Robotics and Automation, IEEE Transactions on, vol. 19, no. 3pp. 499-506, June 2003.
33. Zatsiorsky VM, Kinematics of Human Motion, Champaign, IL: Human Kinetics, 1997
34. De Groot JH, van Woensel W, van der Helm FC, Effect of different arm loads on the position of the scapula in abduction postures. Clinical Biomechanics, Volume 14, Number 5, June 1999, pp. 309-314(6)
35. Moeslund T.B., Madsen C.B., Granum E.: Modelling the 3D pose of a human arm and the shoulder complex utilizing only two parameters. Integrated Computer-Aided Engineering, Volume 12, Number 2, pp. 159-175, 2005
36. Cheng JC, Leung SS, Chiu BS, Tse PW, Lee CW, Chan AK, Xia G, Leung AK, Xu YY. Can we predict body height from segmental bone length measurements? A study of 3,647 children. J Pediatr Orthop. 1998 May- Jun;18(3):387-93.
37. L.J. Soslowsky, E.L. Flatow, L.U. Bigliani, and V.C. Mow, "Articular geometry of the glenohumeral joint," Clinical Orthopaedics and Related Research, vol. 285, 1992.
38. L. Freedmann and R. R. Munro, Aduction of the Arm in the Scapular Plane: Scapular and Glenohumeral Movements: A Roentgenographic Study, J. Bone Joint Surg. Am. 48:1503-1510, 1966
39. S.D. Bagg and W.J. Forrest, "A Biomechanical Analysis of Scapula Rotation during Arm Abduction in the Scapula Plane," Am J Phys Med Rehabil, vol. 67, 1988.
40. S.G. Doody, L. Freedman, and C.J. Waterland, "Shoulder Movements during abduction in the Scapular Plane," Arch Phys Med Rehabil, vol. 51, 1970.
41. E. Culham and M. Peat, "Functional Anatomy the Shoulder Complex," Journal of Orthopaedic and Sports Physical Therapy, vol. 18, no. 1, 1993.
42. F.C.T. van der Helm and Gijs M. Pronk, "Three-Dimensional Recording and Description of Motions of the Shoulder Mechanism." Journal of Biomechanical Engineering, 117(1):27-40, 1995.