Training Modalities in Rehabilitation Robotics

Training Modalities in Rehabilitation Robotics

As we saw in the previous two lessons, rehabilitation robots can generally be categorized as upper-limb rehabilitation robots and lower-limb rehabilitation robots. No matter which part of the body they are targeting to rehabilitate, they can provide four different types of physical therapy that should be chosen based on the patient's needs. They are passive rehabilitation, active-assisted rehabilitation, active-resisted rehabilitation, and bilateral manipulation. Passive Rehabilitation Passive Rehabilitation can be used at the early stages of the impairment where the affected limb has no movement. In this type of therapy, the robot moves the affected limb of the patient through a…
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Lower-Extremity Rehabilitation Robots

Lower-Extremity Rehabilitation Robots

Previously, we learned about rehabilitation and the importance of robot-aided rehabilitation. We have also seen some of the upper-limb rehabilitation robots and how they operate. In this lesson, we will become familiarized with lower-limb rehabilitation robots that are helpful for patients with lower-extremity disorders. Lower-extremity exoskeleton robots can be designed to help the movement of a specific joint, or they are designed for gait rehabilitation. They can also serve as assistive devices to perform activities of daily living (ADL). Joint-specific Rehabilitation/Assistive Exoskeleton Robots Joint-specific rehabilitation/assistive exoskeleton robots are used for body joints rehabilitation and can be made to rehabilitate or…
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Upper-limb Rehabilitation Robotics

Upper-limb Rehabilitation Robotics

You may have already heard about rehabilitation, or you may have used some of the services in the past, or the first thing that comes to your mind is Britney Spears. But whatever you've already had in your mind, rehabilitation refers to enhancing or restoring the movement and quality of life for people with disabilities or other impairments due to diseases or injury. By definition, rehabilitation refers to help restore movement and function to people with disabilities caused by diseases or injury. However, doing repetitive tasks for long periods of time is daunting and less intensive than needed for proper…
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Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Note: The Sliding Mode Control of The Shoulder Rehabilitation Robot project was done during 2011 - 2013 when Madi was a master's student. Sliding-Mode Control of 3-DOF Rehabilitation Robot Abstract In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix,…
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Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 - 2013 when Madi was a master's student. Inverse Dynamics Controller Abstract Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration and more repetitive. By using robots repetitive dull exercises can turn into a more challenging and motivating tasks…
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Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Note: The Lyapunov-based control of the Rehabilitation Robot project was done during 2011 - 2013 when Madi was a Master's student. 3-DOF Shoulder Rehabilitation Robot Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are designed for two reasons. First they are designed for passive rehabilitation in which the robot guides the patient's limb through a predefined…
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A review of technological and clinical aspects of robot- aided rehabilitation of upper-extremity after stroke

A review of technological and clinical aspects of robot- aided rehabilitation of upper-extremity after stroke

Note: A review on Robot-aided Rehabilitation was done during 2011 - 2013 when Madi was a master's student. Abstract Cerebrovascular accident (CVA) or stroke is one of the leading causes of disability and loss of motor function. Millions of people around the world are affected by it each year. Stroke results in disabled arm function. Restoration of arm function is essential to regaining activities of daily living (ADL). Along with traditional rehabilitation methods, robot-aided therapy has emerged in recent years. Robot-aided rehabilitation is more intensive, of longer duration and more repetitive. Using robots, repetitive dull exercises can turn into a…
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