reachMAN2: A compact rehabilitation robot to train reaching and manipulation

Author

Tong Liu Zhu ; Klein, John ; Dual, Seraina Anne ; Teo Chee Leong ; Burdet, E.

Author_Institution

Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore, Singapore

fYear

2014

fDate

14-18 Sept. 2014

Firstpage

2107

Lastpage

2113

Abstract

This paper describes the reachMAN2, a rehabilitation robot with minimum degrees-of-freedom to train arm reaching and manipulation for typical ADLs, providing assistance in arm flexion/extension, forearm supination/pronation and hand opening/closing. The design, safety, control and performance evaluation of the system are presented. A handle using an innovative cam mechanism enables natural hand opening/closing movements. The interaction force between the device and the subject is measured via four force sensors located on the handle of the device. A preliminary study with healthy subjects was performed to assess the performances of the device.

Keywords

cams (mechanical); force sensors; manipulators; medical robotics; patient rehabilitation; ADL; arm flexion/extension; arm reaching; compact rehabilitation robot; device handle; force sensors; forearm supination/pronation; innovative cam mechanism; interaction force; manipulation; minimum degrees-of-freedom; natural hand opening/closing movement; reachMAN2; train reaching; Admittance; Force; Friction; Robots; Safety; Thumb; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Conference_Location

Chicago, IL

Type

conf

DOI

10.1109/IROS.2014.6942845

Filename

6942845