The ACT-4D: A novel rehabilitation robot for the quantification of upper limb motor impairments following brain injury Conference

Stienen, AHA, McPherson, JG, Schouten, AC et al. (2011). The ACT-4D: A novel rehabilitation robot for the quantification of upper limb motor impairments following brain injury . 10.1109/ICORR.2011.5975460

cited authors

  • Stienen, AHA; McPherson, JG; Schouten, AC; Dewald, JPA

authors

abstract

  • Rehabilitation robots and other controlled diagnostic devices are useful tools to objectively quantify debilitating, post-stroke impairments. The goal of this paper is to describe the design of the ACT-4D rehabilitation robot which can quantify arm impairments during functional movement. The robot can instantly switch between a compliant mode that minimizes impedance of voluntary movement, and a stiff mode that applies controlled position/speed perturbations to the elbow (up to 75 Nm or 450 deg/s at 4500 deg/s2). It has a limited range of movement of the shoulder and elbow, which is further reduced when a damper is needed to enhance the positional stiffness of the base robot. In recent experiments, the ACT-4D has been used successfully for the quantification of elbow impairments. © 2011 IEEE.

publication date

  • January 1, 2011

Digital Object Identifier (DOI)

International Standard Book Number (ISBN) 13