3-D Extension for MIT-MANUS: A Robot-Aided Neuro-Rehabilitation Workstation

Abstract

Abstract An extension to an existing planar manipulator for robot-aided therapy is described. The MIT-MANUS rehabilitation workstation, shown to be effective in sensorimotor training of recovering stroke patients, is augmented by the addition of a module permitting movements in a 3-dimensional workspace. Key analyses in the mechanical design of the new module are described. A compact, screw-driven, low mechanical impedance module meets the target requirements. Manufacturing of this novel device will be followed shortly by its deployment in clinical trials.