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dc.contributor.authorRoy, Anindo
dc.contributor.authorKrebs, Hermano Igo
dc.contributor.authorWilliams, Dustin J.
dc.contributor.authorBever, Christopher T.
dc.contributor.authorForrester, Larry W.
dc.contributor.authorMacko, Richard M.
dc.contributor.authorHogan, Neville
dc.date.accessioned2010-12-14T19:41:29Z
dc.date.available2010-12-14T19:41:29Z
dc.date.issued2009-06
dc.identifier.issn1552-3098
dc.identifier.otherINSPEC Accession Number: 10713510
dc.identifier.urihttp://hdl.handle.net/1721.1/60291
dc.description.abstractIn this paper, we present the design and characterization of a novel ankle robot developed at the Massachusetts institute of technology (MIT). This robotic module is being tested with stroke patients at Baltimore Veterans administration medical center. The purpose of the on-going study is to train stroke survivors to overcome common foot drop and balance problems in order to improve their ambulatory performance. Its design follows the same guidelines of our upper extremity designs, i.e., it is a low friction, backdriveable device with intrinsically low mechanical impedance. Here, we report on the design and mechanical characteristics of the robot. We also present data to demonstrate the potential of this device as an efficient clinical measurement tool to estimate intrinsic ankle properties. Given the importance of the ankle during locomotion, an accurate estimate of ankle stiffness would be a valuable asset for locomotor rehabilitation. Our initial ankle stiffness estimates compare favorably with previously published work, indicating that our method may serve as an accurate clinical measurement tool.en_US
dc.description.sponsorshipUnited States. Dept. of Veteran Affairs (Rehabilitation Research and Development Service under Grant B2294T)en_US
dc.description.sponsorshipBaltimore Veterans Affairs Medical Center ("Center of Excellence on Task-Oriented Exercise and Robotics in Neurological Diseases" under Grant B3688R)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/TRO.2009.2019783en_US
dc.rightsArticle is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.en_US
dc.sourceIEEEen_US
dc.titleRobot-aided neurorehabilitation: A novel robot for ankle rehabilitationen_US
dc.typeArticleen_US
dc.identifier.citationRoy, A. et al. “Robot-Aided Neurorehabilitation: A Novel Robot for Ankle Rehabilitation.” Robotics, IEEE Transactions on 25.3 (2009): 569-582. © 2009 IEEE.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Brain and Cognitive Sciencesen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverHogan, Neville
dc.contributor.mitauthorHogan, Neville
dc.contributor.mitauthorRoy, Anindo
dc.contributor.mitauthorKrebs, Hermano Igo
dc.relation.journalIEEE Transactions on Roboticsen_US
dc.eprint.versionAuthor's final manuscript
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsRoy, A.; Krebs, H.I.; Williams, D.J.; Bever, C.T.; Forrester, L.W.; Macko, R.M.; Hogan, N.en
dc.identifier.orcidhttps://orcid.org/0000-0001-5366-2145
mit.licensePUBLISHER_POLICYen_US
mit.metadata.statusComplete


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