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Adaptive Training Strategy of Distal  Movements by Means of a Wrist-Robot

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6 Author(s)
Masia, L. ; Italian Inst. of Technol. Genoa, Genoa ; Rodriguez, N.N. ; Casadio, M. ; Morasso, Pietro
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This paper presents the design, and performance of a high fidelity three degree-of-freedom wrist exoskeleton robot, for neuroscience study, training and rehabilitation. The IIT-Wrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for such applications is based on findings that show robot-assisted physical therapy aids in the rehabilitation process following neurological injuriesIn the present paper the IIT-Wrist haptic robot is described in terms of kinematics and haptics features to meet specific requirements for a safety human.machine interaction. In relation with a feasibility study in the field of robot therapy a preliminary training of stroke patient was perfrormed. The task consisted in tracking a target using one degree of freedom at time: Flexion/Extension, adduction/abduction, pronation/supination separately. The target motion is harmonic and tracking is aided by a suitable force field. The preliminary study with three patients shows the stability and the efficacy of the control scheme.

Published in:

Advances in Computer-Human Interactions, 2009. ACHI '09. Second International Conferences on

Date of Conference:

1-7 Feb. 2009