Students: Abhishek Gupta, Joel Huegel, Ozkan Celik, Brandon Chalifoux |
We have designed and fabricated a robot for upper extremity stroke rehabilitation that is capable of applying assistive or resistive forces during reaching movements. Motions of the shoulder and elbow are controlled by the MIME (Mirror Image Movement Enabler) system, which utilize a Puma robot. Motions of the forearm and wrist are controlled by the RiceWrist, a parallel structure cable driven robot mounted on the end of the PUMA. Three operating modes are implemented on the combined MIME-RiceWrist system and a graphical user interface (GUI) is available that allows the number of repetitions, start and end points of the reaching movements, the mode and the mode parameters to be selected at each trial. Data are saved during the sessions for further analysis, such as patients’ movement characteristics or evaluation of the motor recovery of the patient. |
Figure 1 Rice Wrist mounted on the MIME Rehabilitation System
(Click here to watch a video of the MIME-RiceWrist System in action)