Title :
Robotic assist devices for bimanual physical therapy: preliminary experiments
Author :
Lum, Peter S. ; Reinkensmeyer, David J. ; Lehman, Steven L.
Author_Institution :
California Univ., Berkeley, CA, USA
fDate :
9/1/1993 12:00:00 AM
Abstract :
Preliminary experiments were performed on a dynamically simplified system consisting of two outstretched hands constrained to flexion/extension while holding an object. A prototype device was designed to measure and assist in a transport task, in which the two hands moved a pencil-like object rhythmically back and forth, and in a bimanual squeezing task, in which the two hands squeezed the object. The device, operating under simple proportional feedback control laws, could substitute completely for one hand in both tasks. When the device assisted a hand partially disabled by ischemia, it produced torque that the disabled hand did not, allowing the tasks to be performed. These results demonstrate the capability of a device, operating under simple control laws, to assist a disabled hand, allowing performance of coordinated bimanual tasks. Such a robot, extended to more useful bimanual activities of daily living, could afford cost effective, objectively measurable, self-driven therapy for a large patient population
Keywords :
handicapped aids; patient treatment; robots; 2 outstretched hands; bimanual physical therapy; bimanual squeezing task; coordinated bimanual tasks; daily living activities; dynamically simplified system; extension; flexion; pencil-like object; prototype device; rhythmic movement; robotic assist devices; simple proportional feedback control laws; transport task; Associate members; Biomedical engineering; Feedback control; Ischemic pain; Medical treatment; Prototypes; Rehabilitation robotics; Robot kinematics; Robot sensing systems; Robotics and automation;
Journal_Title :
Rehabilitation Engineering, IEEE Transactions on