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ARMin - Robot for Patient.-Cooperative Arm Therapy


T. Nef

Chicago, USA, Seminar at Physical Therapy and Human Movement Sciences, Northwestern University

Task-oriented repetitive movement can improve movement performance in patients with neurological lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological rehabilitation of movements. ARMin is a new robot for arm therapy applicable to the movement therapy in clinics. ARMin has an exoskeleton structure with six degrees of freedom, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architecture. The talk will cover the mechanical structure, the control circuit, the sensors and actuators and some safety aspects. Furthermore, preliminary results of a single case study with three hemiplegic subjects will be presented.


Type of Publication:

(05)Plenary/Invited/Honorary Lecture

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