Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation
In this paper, we present the design and characterization of a novel ankle robot developed at the Massachusetts institute of technology (MIT). This robotic module is being tested with stroke patients at Baltimore Veterans administration medical center. The purpose of the on-going study is to train s...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/60291 https://orcid.org/0000-0001-5366-2145 |
| _version_ | 1826213892519362560 |
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| author | Roy, Anindo Krebs, Hermano Igo Williams, Dustin J. Bever, Christopher T. Forrester, Larry W. Macko, Richard M. Hogan, Neville |
| author2 | Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences |
| author_facet | Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences Roy, Anindo Krebs, Hermano Igo Williams, Dustin J. Bever, Christopher T. Forrester, Larry W. Macko, Richard M. Hogan, Neville |
| author_sort | Roy, Anindo |
| collection | MIT |
| description | In this paper, we present the design and characterization of a novel ankle robot developed at the Massachusetts institute of technology (MIT). This robotic module is being tested with stroke patients at Baltimore Veterans administration medical center. The purpose of the on-going study is to train stroke survivors to overcome common foot drop and balance problems in order to improve their ambulatory performance. Its design follows the same guidelines of our upper extremity designs, i.e., it is a low friction, backdriveable device with intrinsically low mechanical impedance. Here, we report on the design and mechanical characteristics of the robot. We also present data to demonstrate the potential of this device as an efficient clinical measurement tool to estimate intrinsic ankle properties. Given the importance of the ankle during locomotion, an accurate estimate of ankle stiffness would be a valuable asset for locomotor rehabilitation. Our initial ankle stiffness estimates compare favorably with previously published work, indicating that our method may serve as an accurate clinical measurement tool. |
| first_indexed | 2024-09-23T15:56:30Z |
| format | Article |
| id | mit-1721.1/60291 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:56:30Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/602912022-10-02T05:12:11Z Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation Roy, Anindo Krebs, Hermano Igo Williams, Dustin J. Bever, Christopher T. Forrester, Larry W. Macko, Richard M. Hogan, Neville Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences Massachusetts Institute of Technology. Department of Mechanical Engineering Hogan, Neville Hogan, Neville Roy, Anindo Krebs, Hermano Igo In this paper, we present the design and characterization of a novel ankle robot developed at the Massachusetts institute of technology (MIT). This robotic module is being tested with stroke patients at Baltimore Veterans administration medical center. The purpose of the on-going study is to train stroke survivors to overcome common foot drop and balance problems in order to improve their ambulatory performance. Its design follows the same guidelines of our upper extremity designs, i.e., it is a low friction, backdriveable device with intrinsically low mechanical impedance. Here, we report on the design and mechanical characteristics of the robot. We also present data to demonstrate the potential of this device as an efficient clinical measurement tool to estimate intrinsic ankle properties. Given the importance of the ankle during locomotion, an accurate estimate of ankle stiffness would be a valuable asset for locomotor rehabilitation. Our initial ankle stiffness estimates compare favorably with previously published work, indicating that our method may serve as an accurate clinical measurement tool. United States. Dept. of Veteran Affairs (Rehabilitation Research and Development Service under Grant B2294T) Baltimore Veterans Affairs Medical Center ("Center of Excellence on Task-Oriented Exercise and Robotics in Neurological Diseases" under Grant B3688R) 2010-12-14T19:41:29Z 2010-12-14T19:41:29Z 2009-06 Article http://purl.org/eprint/type/JournalArticle 1552-3098 INSPEC Accession Number: 10713510 http://hdl.handle.net/1721.1/60291 Roy, A. et al. “Robot-Aided Neurorehabilitation: A Novel Robot for Ankle Rehabilitation.” Robotics, IEEE Transactions on 25.3 (2009): 569-582. © 2009 IEEE. https://orcid.org/0000-0001-5366-2145 en_US http://dx.doi.org/10.1109/TRO.2009.2019783 IEEE Transactions on Robotics Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Roy, Anindo Krebs, Hermano Igo Williams, Dustin J. Bever, Christopher T. Forrester, Larry W. Macko, Richard M. Hogan, Neville Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation |
| title | Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation |
| title_full | Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation |
| title_fullStr | Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation |
| title_full_unstemmed | Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation |
| title_short | Robot-aided neurorehabilitation: A novel robot for ankle rehabilitation |
| title_sort | robot aided neurorehabilitation a novel robot for ankle rehabilitation |
| url | http://hdl.handle.net/1721.1/60291 https://orcid.org/0000-0001-5366-2145 |
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