09 - Robot-Aided Arm Therapy

Question 1

Upper extremities functions

Answer 1

• reach & grasp
• obj manipulation
• perception and exploration
• gesture

Question 2

State-of-the-art of robot-aided arm therapy

Answer 2

• safety: no bigger risks but skin irritations
• limb function: at least as good as w/ conventional
• recovery time decrease
• cost-efficiency diff to calc

Question 3

Mechanical structures for robot-aided arm therapy

Answer 3

• end-effector based (simpler but not fully determined)
• exoskeleton (F & position data but alignment)
• exosuit (lightweight but longitudinal forces)
• weight-support systems
• actuation: pneumatic / elastic

Question 4

ARMin

Answer 4

• exoskeleton
• 7 DOF
• position and F sensors and ctl
• audiovisual display
• games, ADL
• movt= shoulder ab/adduction, intl/extl shoulder rotation, horizontal arm rotation, elbow flexion/extension
• path ctl
• ChARMin for children (remove what was close to the head)

Question 5

Automation of conventional therapy

Answer 5

• forward kinematics: x, y = f(phi1, phi2) (from jt to task space)
• robots for assessment