ARMin - Toward a six DoF upper limb rehabilitation robot

摘要

Early intervention and intensive therapy improve outcome of neuromuscular disorder rehabilitation. However, a major problem is posed by considerable controversy surrounding the most appropriate method of therapy and there are still insufficient data to identify clearly the benefits of different approaches. At the same time largely still non-patient-specific methods for diagnosis and therapy are currently being used. Evidence indicates that where patient is motivated and premeditates his movement, the recovery is more effective and intelligent machines allow a broad scope to investigate these conditions. The ARMin robot is designed to assist, enhance, evaluate, and document neurological and orthopedic rehabilitation. Model-based impedance control enables the patient's effort being taken into consideration by allowing the machine to comply with forces exerted by the patient. The interaction is enhanced through a multimodal display based on visual, auditory, and kinesthetic modalities