Human movement training with a cable driven ARm EXoskeleton (CAREX)

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Volumn 23, Issue 1, 2015, Pages 84-92

  Mao, Ying ^a   Jin, Xin ^b   Dutta, Geetanjali Gera ^c   Scholz, John P ^d   Agrawal, Sunil K ^b  

^a GE GLOBAL RESEARCH   (United States)

^b Department of Earth and Environmental Sciences   (United States)

^c OREGON HEALTH AND SCIENCE UNIVERSITY   (United States)

^d UNIVERSITY OF DELAWARE   (United States)

Author keywords

Assistive devices; cable driven robots; medical robotics; parallel robots; rehabilitation robotics

Indexed keywords

ELECTRONIC MEDICAL EQUIPMENT; MECHANISMS; QUADRATIC PROGRAMMING; ROBOTICS;

ASSISTIVE DEVICES; CABLE DRIVEN ROBOTS; MEDICAL ROBOTICS; PARALLEL ROBOTS; REHABILITATION ROBOTICS;

CABLES;

ANATOMY AND HISTOLOGY; ARM; COMPUTER SYSTEM; HUMAN; JOINT; LEARNING; LIMB PROSTHESIS; MOVEMENT (PHYSIOLOGY); PHYSIOLOGY; PROCEDURES; PROSTHESIS; REHABILITATION; ROBOTICS; STROKE;

ARM; ARTIFICIAL LIMBS; COMPUTER SYSTEMS; HUMANS; JOINTS; LEARNING; MOVEMENT; PROSTHESIS DESIGN; REHABILITATION; ROBOTICS; STROKE;

EID: 84920903908     PISSN: 15344320     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNSRE.2014.2329018     Document Type: Article

References (27)

1. M. L. Aisen, H. I. Krebs, N. Hogan, F. McDowell, and B. T. Volpe, "The effect of robot-assisted therapy and rehabilitative training on motor recovery following stroke," Arch. Neurol., vol. 54, no. 4, pp. 443-446, 1997.
2. N. A. Bayona, J. Bitensky, K. Salter, and R. Teasell, "The role of taskspecific training in rehabilitation therapies," Top Stroke Rehabil., vol. 12, no. 3, pp. 58-65, 1992.
3. G. B. Prange, M. J. A. Jannink, C. G. M. Groothuis-Oudshoorn, H. J. Hermens, and M. J. Ijzerman, "Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke," J. Rehabil. Res. Develop., vol. 43, no. 2, pp. 171-184, 2006.
4. G. Kwakkel, B. J. Kollen, and H. I. Krebs, "Effects of robot-assisted therapy on upper limb recovery after stroke: A systematic review," Neurorehabil. Neural Repair, vol. 22, no. 2, pp. 111-121, 2008.
5. H. I. Krebs, N. Hogan, M. L. Aisen, and B. T. Volpe, "Robot-aided neurorehabilitation," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 6, no. 1, pp. 75-87, Mar. 1998.
6. D. Reinkensmeyer and S. Lehman, "A bimanual therapy robot: Controller design and prototype experiments," Proc. 15th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc. pp. 938-939, 1993.
7. T. Nef, M. Guidali, and R. Riener, "Armin III - Arm therapy exoskeleton with an ergonomic shoulder actuation," Appl. Bionics Biomechan., vol. 6, no. 2, pp. 127-142, 2009.
8. C. Carignan, M. Liszka, and S. Roderick, "Design of an arm exoskeleton with scapula motion for shoulder rehabilitation," in Proc. Int. Conf. Adv. Robot., Jul. 2005, pp. 524-531.
9. A. Frisoli, F. Rocchi, S. Marcheschi, A. Dettori, F. Salsedo, and M. Bergamasco, "A new force-feedback arm exoskeleton for haptic interaction in virtual environments," in Proc.World Haptics,Mar. 2005, pp. 195-201.
10. J. C. Perry, J. Rosen, and S. Burns, "Upper-limb powered exoskeleton design," IEEE/ASME Trans. Mechatron., vol. 12, no. 4, pp. 408-417, 2007.
11. S. J. Ball, I. E. Brown, and S. H. Scott, "Medarm: A rehabilitation robot with 5dof at the shoulder complex," in Proc. IEEE/ASME Int. Conf. Adv. Intell. Mechatron., Sep. 2007, pp. 1-6.
12. A. Schiele and F. C. T. van der Helm, "Kinematic design to improve ergonomics in human machine interaction," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 14, no. 4, pp. 456-469, Dec. 2006.
13. A. H. A. Stienen, E. E. G. Hekman, F. C. T. van der Helm, and H. van der Kooij, "Self-aligning exoskeleton axes through decoupling of joint rotations and translations," IEEE Trans. Robot., vol. 25, no. 3, pp. 628-633, Jun. 2009.
14. E. A. Brackbill, Y. Mao, S. K. Agrawal, M. Annapragada, and V. N. Dubey, "Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton," in Proc. IEEE Int. Conf. Robot. Automat.,May 2009, pp. 2300-2305.
15. Y. Mao and S. K. Agrawal, "Wearable cable-driven upper arm exoskeleton - Motion with transmitted joint force and moment minimization," in Proc. IEEE Int. Conf. Robot. Automat., May 2010, pp. 4334-4339.
16. Y. Mao and S. K. Agrawal, "A cable driven upper arm exoskeleton for upper extremity rehabilitation," Proc. IEEE Int. Conf. Robot. Automat., pp. 4163-4168, May 2011.
17. Y. Mao and S. K. Agrawal, "Design of a cable driven arm exoskeleton (CAREX) for neural rehabilitation," IEEE Trans. Robot., vol. 28, no. 4, pp. 922-931, Aug. 2012.
18. J. Emken, R. Benitez, and D. Reinkensmeyer, "Human-robot cooperative movement training: Learning a novel sensory motor transformation during walking with robotic assistance-as-needed," J. Neuroeng. Rehabil., vol. 4, no. 1, p. 8, 2007.
19. S. K. Banala, S. H. Kim, S. K. Agrawal, and J. P. Scholz, "Robot assisted gait training with active leg exoskeleton (ALEX)," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 17, no. 1, pp. 2-8, Feb. 2009.
20. A. Duschau-Wicke, J. von Zitzewitz, A. Caprez, L. Lunenburger, and R. Riener, "Path control: A method for patient-cooperative robot-aided gait rehabilitation," IEEE Trans. Neural Syst. Rehabil. Eng., vol. 18, no. 1, pp. 38-48, Feb. 2010.
21. Y. Mao and S. K. Agrawal, "Cable driven arm exoskeleton (CAREX): Transition from experiments on a mechanical arm to the human arm," in Proc. IEEE Int. Conf. Robot. Automat., May 2012, pp. 2457-2462.
22. Y. Mao, X. Jin, and S. K. Agrawal, "Real-time estimation of glenohumeral joint rotation center with cable-driven arm exoskeleton (CAREX) - A cable-based arm exoskeleton," J. Mechan. Robot., vol. 6, no. 1, p. 014502, 2013.
23. S. K. Agrawal, V. N. Dubey, J. J. Gangloff, E. Brackbill, Y. Mao, and V. Sangwan, "Design and optimization of a cable driven upper arm exoskeleton," J. Med. Devices, vol. 3, no. 3, p. 031004, 2009.
24. L. L. Cai, A. J. Fong, C. K. Otoshi, Y. Liang, J. W. Burdick, R. R. Roy, and V. R. Edgerton, "Implications of assist-as-needed robotic step training after a complete spinal cord injury on intrinsic strategies of motor learning," J. Neurosci., vol. 26, no. 41, pp. 10 564-10 568, Oct. 2006.
25. M. Guidali, A.Duschau-Wicke, S. Broggi, V. Klamroth-Marganska, T. Nef, and R. Riener, "A robotic system to train activities of daily living in a virtual environment," Med. Biol. Eng. Comput. vol. 49, no. 10, pp. 1213-1223, Oct. 2011.
26. R. Verhoeven, "Analysis of the workspace of tendon-based Stewart-platforms," Ph.D. dissertation, Univ. Duisburg-Essen, Essen, Germany, 2004.
27. G. Rab, K. Petuskey, and A. Bagley, "A method for determination of upper extremity kinematics," Gait Posture, vol. 15, no. 2, pp. 113-119, 2002.