Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation
Name
Roy-2009-Robot-Aided Neurorehabilitation A Novel Robot for Ankle Rehabilitation.pdf
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1.11 MB
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Author(s)
Roy, Anindo
Krebs, Hermano Igo
Williams, Dustin J.
Bever, Christopher T.
Forrester, Larry W.
Macko, Richard M.
Hogan, Neville
Date Issued
June 2009
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers
Citation
Roy, A. et al. “Robot-Aided Neurorehabilitation: A Novel Robot for Ankle Rehabilitation.” Robotics, IEEE Transactions on 25.3 (2009): 569-582. © 2009 IEEE.
Version
Author's final manuscript
Abstract
In 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.
MIT Department
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Article 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.
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DOI of Published Version
https://doi.org/10.1109/TRO.2009.2019783
