HEnRiE - Haptic Environment for Reaching and Grasping Exercise

Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. HEnRiE is a robot based haptic environment for simultaneous training of reaching and grasping movements. It consists of a robot with three active and two passive degrees of freedom and a grasping device with one degree of freedom. A training scenario that includes a virtual physiotherapist is introduced. Presented are results of a preliminary study that requires reaching and grasping coordination.