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ARMin - Toward a Six DoF Upper Limb Rehabilitation Robot


M. Mihelj, T. Nef, R. Riener

IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics

Early intervention and intensive therapy improve outcome of neuromuscular disorder rehabilitation. However, a major problem is posed by considerable controversy surrounding the most appropriate method of therapy and there are still insufficient data to identify clearly the benefits of different approaches. At the same time largely still nonpatient- specific methods for diagnosis and therapy are currently being used. Evidence arises that when the patient is motivated and premeditates his movement, the recovery is more effective. Intelligent machines allow a broad scope to investigate these conditions. The ARMin robot is designed as such a machine has the potential to satisfy above-mentioned demands. It can assist, enhance, evaluate, and document neurological and orthopedic rehabilitation. Model-based impedance control enables the patientís effort being taken into consideration by allowing the machine to comply with forces exerted by the patient. The interaction is enhanced through a multimodal display based on visual, auditory, and kinesthetic modalities.

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% Autogenerated BibTeX entry
@InProceedings { MihNef:2006:IFA_2424,
    author={M. Mihelj and T. Nef and R. Riener},
    title={{ARMin - Toward a Six DoF Upper Limb Rehabilitation Robot}},
    booktitle={IEEE / RAS-EMBS International Conference on Biomedical
	  Robotics and Biomechatronics},
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