Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501155
T. Sukal, M. D. Ellis, J. Dewald
The presence of discoordination following stroke has been described qualitatively in the clinic and quantitatively in static conditions. Under dynamic conditions, aspects of arm movements have been explored in two conditions: supported and unsupported against gravity. While these methods have provided insight into movement patterns following stroke, the picture is incomplete and requires a device that can measure joint torques during dynamic arm motions and provide levels of partial support to the arm during movement. Here, we describe the arm coordination training 3-D (ACT/sup 3D/) robotic system and how its unique characteristics can provide additional insight into the dynamic expression of these synergies. Implications and clinical applications are briefly discussed.
{"title":"Dynamic characterization of upper limb discoordination following hemiparetic stroke","authors":"T. Sukal, M. D. Ellis, J. Dewald","doi":"10.1109/ICORR.2005.1501155","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501155","url":null,"abstract":"The presence of discoordination following stroke has been described qualitatively in the clinic and quantitatively in static conditions. Under dynamic conditions, aspects of arm movements have been explored in two conditions: supported and unsupported against gravity. While these methods have provided insight into movement patterns following stroke, the picture is incomplete and requires a device that can measure joint torques during dynamic arm motions and provide levels of partial support to the arm during movement. Here, we describe the arm coordination training 3-D (ACT/sup 3D/) robotic system and how its unique characteristics can provide additional insight into the dynamic expression of these synergies. Implications and clinical applications are briefly discussed.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124465937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501153
Peter S Lum, C. Burgar, Machiel Van der Loos, P. Shor, Matra Majmundar, Ruth Otr, Yap
Results from a randomized, controlled clinical trial of the MIME robotic device for shoulder and elbow neuro-rehabilitation in subacute stroke patients are presented. MIME incorporates a PUMA 560 robot that applies forces to the paretic limb during unilateral and bilateral 3-dimensional movements. The training dose was 15 1-hour sessions within a 4-week period. Analysis of clinical data found the MIME training at least as effective as an equivalent dose of hands-on therapy by a therapist. The MIME training provided added-value by increasing the rate of recovery on some motor impairment scales. Combined unilateral and bilateral training yielded similar functional outcomes compared to equivalent doses of unilateral-only robot training, but with reduced hypertonia and abnormal synergies. Robot group gains exceeded that expected from spontaneous recovery.
{"title":"The MIME robotic system for upper-limb neuro-rehabilitation: results from a clinical trial in subacute stroke","authors":"Peter S Lum, C. Burgar, Machiel Van der Loos, P. Shor, Matra Majmundar, Ruth Otr, Yap","doi":"10.1109/ICORR.2005.1501153","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501153","url":null,"abstract":"Results from a randomized, controlled clinical trial of the MIME robotic device for shoulder and elbow neuro-rehabilitation in subacute stroke patients are presented. MIME incorporates a PUMA 560 robot that applies forces to the paretic limb during unilateral and bilateral 3-dimensional movements. The training dose was 15 1-hour sessions within a 4-week period. Analysis of clinical data found the MIME training at least as effective as an equivalent dose of hands-on therapy by a therapist. The MIME training provided added-value by increasing the rate of recovery on some motor impairment scales. Combined unilateral and bilateral training yielded similar functional outcomes compared to equivalent doses of unilateral-only robot training, but with reduced hypertonia and abnormal synergies. Robot group gains exceeded that expected from spontaneous recovery.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":" 27","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120931859","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501151
R. Sanchez, E. Wolbrecht, R. Smith, J. Liu, S. Rao, S. Cramer, T. Rahman, J. Bobrow, D. Reinkensmeyer
This paper describes the development of a pneumatic robot for functional movement training of the arm and hand after stroke. The device is based on the Wilmington Robotic Exoskeleton (WREX), a passive, mobile arm support developed for children with arm weakness caused by a debilitative condition. Previously, we scaled WREX for use by adults, instrumented it with potentiometers, and incorporated a simple grip strength sensor. The resulting passive device (Training WREX or "T-WREX") allows individuals with severe motor impairment to practice functional movements (reaching, eating, and washing) in a simple virtual reality environment called Java Therapy 2.0. However, the device is limited since it can only apply a fixed pattern of assistive forces to the arm. In addition, its gravity balance function does not restore full range of motion. Therefore, we are also developing a robotic version of WREX named Pneu-WREX, which can apply a wide range of forces to the arm during naturalistic movements. Pneu-WREX uses pneumatic actuators, non-linear force control, and passive counter-balancing to allow application of a wide range of forces during naturalistic upper extremity movements. Besides a detailed description of the mechanical design and kinematics of Pneu-WREX, we present results from a survey of 29 therapists on the use of such a robotic device.
{"title":"A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design","authors":"R. Sanchez, E. Wolbrecht, R. Smith, J. Liu, S. Rao, S. Cramer, T. Rahman, J. Bobrow, D. Reinkensmeyer","doi":"10.1109/ICORR.2005.1501151","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501151","url":null,"abstract":"This paper describes the development of a pneumatic robot for functional movement training of the arm and hand after stroke. The device is based on the Wilmington Robotic Exoskeleton (WREX), a passive, mobile arm support developed for children with arm weakness caused by a debilitative condition. Previously, we scaled WREX for use by adults, instrumented it with potentiometers, and incorporated a simple grip strength sensor. The resulting passive device (Training WREX or \"T-WREX\") allows individuals with severe motor impairment to practice functional movements (reaching, eating, and washing) in a simple virtual reality environment called Java Therapy 2.0. However, the device is limited since it can only apply a fixed pattern of assistive forces to the arm. In addition, its gravity balance function does not restore full range of motion. Therefore, we are also developing a robotic version of WREX named Pneu-WREX, which can apply a wide range of forces to the arm during naturalistic movements. Pneu-WREX uses pneumatic actuators, non-linear force control, and passive counter-balancing to allow application of a wide range of forces during naturalistic upper extremity movements. Besides a detailed description of the mechanical design and kinematics of Pneu-WREX, we present results from a survey of 29 therapists on the use of such a robotic device.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127178829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501042
Jon Eriksson, Maja J. Matarić, C. Winstein
This paper describes an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously, monitors the patient's arm activity, and helps the patient remember to follow a rehabilitation program. Our experiments show that patients post-stroke are positive about this approach and that increasingly active and animated robot behavior is positively received by stroke survivors.
{"title":"Hands-off assistive robotics for post-stroke arm rehabilitation","authors":"Jon Eriksson, Maja J. Matarić, C. Winstein","doi":"10.1109/ICORR.2005.1501042","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501042","url":null,"abstract":"This paper describes an autonomous assistive mobile robot that aids stroke patient rehabilitation by providing monitoring, encouragement, and reminders. The robot navigates autonomously, monitors the patient's arm activity, and helps the patient remember to follow a rehabilitation program. Our experiments show that patients post-stroke are positive about this approach and that increasingly active and animated robot behavior is positively received by stroke survivors.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124801994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501147
P. Chang, Sang Rae Park, G. Cho, J. Jung, S. Park
This paper presents the development of a robot arm assisting people with disabilities (PWD) at a working place. According to task-oriented design (TOD) procedure, a robot arm is systematically designed and developed. The robot arm is designed and manufactured to carry out 2 tasks, 'circuit test of PCB' and 'soldering inspection and repairing of PCB with solder'. It is tested and evaluated at the company for handicapped workers.
{"title":"Development of a robot arm assisting people with disabilities at working place using task-oriented design","authors":"P. Chang, Sang Rae Park, G. Cho, J. Jung, S. Park","doi":"10.1109/ICORR.2005.1501147","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501147","url":null,"abstract":"This paper presents the development of a robot arm assisting people with disabilities (PWD) at a working place. According to task-oriented design (TOD) procedure, a robot arm is systematically designed and developed. The robot arm is designed and manufactured to carry out 2 tasks, 'circuit test of PCB' and 'soldering inspection and repairing of PCB with solder'. It is tested and evaluated at the company for handicapped workers.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116081620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501154
R. Colombo, F. Pisano, S. Micera, A. Mazzone, C. Delconte, M. Carrozza, Paolo Dario, G. Minuco
This work presents two robot devices for use in the rehabilitation of upper limb movements and reports the quantitative parameters obtained to characterize the rate of improvement thus allowing a precise monitoring of the patient's recovery. Two groups of chronic post-stroke patients were enrolled in a 3-week rehabilitation program including standard physical therapy plus treatment by means of robot devices respectively for wrist and elbow-shoulder movements. Both groups were evaluated by means of standard clinical assessment scales and a new robot measured evaluation metrics. After treatment, both groups improved their motor deficit and disability. The new evaluation metrics proposed should allow the therapist to implement targeted rehabilitative strategies and, if necessary, prompt adjustment of the treatment.
{"title":"Upper limb rehabilitation and evaluation of stroke patients using robot-aided techniques","authors":"R. Colombo, F. Pisano, S. Micera, A. Mazzone, C. Delconte, M. Carrozza, Paolo Dario, G. Minuco","doi":"10.1109/ICORR.2005.1501154","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501154","url":null,"abstract":"This work presents two robot devices for use in the rehabilitation of upper limb movements and reports the quantitative parameters obtained to characterize the rate of improvement thus allowing a precise monitoring of the patient's recovery. Two groups of chronic post-stroke patients were enrolled in a 3-week rehabilitation program including standard physical therapy plus treatment by means of robot devices respectively for wrist and elbow-shoulder movements. Both groups were evaluated by means of standard clinical assessment scales and a new robot measured evaluation metrics. After treatment, both groups improved their motor deficit and disability. The new evaluation metrics proposed should allow the therapist to implement targeted rehabilitative strategies and, if necessary, prompt adjustment of the treatment.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128338403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501118
W. Durfee, S. Weinstein, J. Carey, E. Bhatt, A. Nagpal
Over four million Americans are affected by stroke. Current theories of stroke rehabilitation point towards paradigms of intense, concentrated use of the afflicted limb as a means for motor program reorganization and partial function restoration. A home system for stroke rehabilitation to train recovery of hand function has been designed and deployed in a research study. The system measures finger and wrist flexion and extension motions on both hands. Patients use joint motion to control the cursor on a screen in a concentrated tracking task for several hours each day over the course of 10 days. A telecomponent was added so that a therapist can check in with the patient and monitor progress. Fifteen patients have used the system in their homes. The equipment has been reliable and patients have generally responded that the system is easy to use.
{"title":"Home stroke telerehabilitation system to train recovery of hand function","authors":"W. Durfee, S. Weinstein, J. Carey, E. Bhatt, A. Nagpal","doi":"10.1109/ICORR.2005.1501118","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501118","url":null,"abstract":"Over four million Americans are affected by stroke. Current theories of stroke rehabilitation point towards paradigms of intense, concentrated use of the afflicted limb as a means for motor program reorganization and partial function restoration. A home system for stroke rehabilitation to train recovery of hand function has been designed and deployed in a research study. The system measures finger and wrist flexion and extension motions on both hands. Patients use joint motion to control the cursor on a screen in a concentrated tracking task for several hours each day over the course of 10 days. A telecomponent was added so that a therapist can check in with the patient and monitor progress. Fifteen patients have used the system in their homes. The equipment has been reliable and patients have generally responded that the system is easy to use.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"364 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124571803","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501078
Hai-tao Huang, G. Fernie
The residents in long term care facilities with cognitive impairment and mobility disability need an anti-collision system on their powered wheelchairs to prevent them from causing other seniors to fall. Because of the severe consequence of falling, the detection method of the anti-collision system must be very reliable. However, many object detection techniques tend to miss targets that are unfavourably oriented or have certain surface properties. This research evaluated an uncommon method: laser line object detection (LLOD). The LLOD system projects an invisible infrared laser line onto the ground, and reads the resulting image via a camera. By analyzing the laser line in the image, the system can identify whether objects are in the target area. A pilot LLOD system was designed and installed on a powered wheelchair. The results of the evaluation experiments showed that the LLOD system can detect almost all obstacles with different orientations and materials, and produced a high detection rate on favourable flooring surfaces.
{"title":"The laser line object detection method in an anti-collision system for powered wheelchairs","authors":"Hai-tao Huang, G. Fernie","doi":"10.1109/ICORR.2005.1501078","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501078","url":null,"abstract":"The residents in long term care facilities with cognitive impairment and mobility disability need an anti-collision system on their powered wheelchairs to prevent them from causing other seniors to fall. Because of the severe consequence of falling, the detection method of the anti-collision system must be very reliable. However, many object detection techniques tend to miss targets that are unfavourably oriented or have certain surface properties. This research evaluated an uncommon method: laser line object detection (LLOD). The LLOD system projects an invisible infrared laser line onto the ground, and reads the resulting image via a camera. By analyzing the laser line in the image, the system can identify whether objects are in the target area. A pilot LLOD system was designed and installed on a powered wheelchair. The results of the evaluation experiments showed that the LLOD system can detect almost all obstacles with different orientations and materials, and produced a high detection rate on favourable flooring surfaces.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130495520","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501104
N. Stoykov, Madeleine M. Lowery, C. J. Heckman, A. Taflove, Todd A. Kuiken
The control of multifunctional myoelectric prostheses is a substantive area of research with the potential to dramatically improve the independence of transradial amputees. We present preliminary data for the development of a new technique for obtaining multiple electromyographic (EMG) signals for controlling multifunctional myoelectric hand and wrist prostheses. A completely embedded passive conductor is proposed to transmit intramuscular EMG signals to a distant location just beneath the skin surface with a subcutaneous terminal. These signals can then be recorded with conventional surface electrodes. The surface recorded intramuscular EMG (SRI EMG) signals would closely follow the electrical potential at the muscle fiber source. They would be extremely selective, and the well-known effect of spatial filtering, which reduces the amplitude and frequency content of surface EMG signals, would be virtually eliminated. It would, therefore, be possible to access control signals from deep or small muscles that would otherwise be unavailable. Based on this technique, a new generation of multifunction myoelectric prostheses can be developed. The technique is a simple, inexpensive, and robust alternative to implanted telemetry systems and percutaneous electrodes.
{"title":"Recording intramuscular EMG signals using surface electrodes","authors":"N. Stoykov, Madeleine M. Lowery, C. J. Heckman, A. Taflove, Todd A. Kuiken","doi":"10.1109/ICORR.2005.1501104","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501104","url":null,"abstract":"The control of multifunctional myoelectric prostheses is a substantive area of research with the potential to dramatically improve the independence of transradial amputees. We present preliminary data for the development of a new technique for obtaining multiple electromyographic (EMG) signals for controlling multifunctional myoelectric hand and wrist prostheses. A completely embedded passive conductor is proposed to transmit intramuscular EMG signals to a distant location just beneath the skin surface with a subcutaneous terminal. These signals can then be recorded with conventional surface electrodes. The surface recorded intramuscular EMG (SRI EMG) signals would closely follow the electrical potential at the muscle fiber source. They would be extremely selective, and the well-known effect of spatial filtering, which reduces the amplitude and frequency content of surface EMG signals, would be virtually eliminated. It would, therefore, be possible to access control signals from deep or small muscles that would otherwise be unavailable. Based on this technique, a new generation of multifunction myoelectric prostheses can be developed. The technique is a simple, inexpensive, and robust alternative to implanted telemetry systems and percutaneous electrodes.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127703979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-29DOI: 10.1109/ICORR.2005.1501144
Redwan Alqasemi, E. J. McCaffrey, K. Edwards, R. Dubey
This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA). It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and evaluation of a WMRA. In an effort to evaluate two commercial WMRAs, the procedure for kinematic analysis is applied to each manipulator. Design recommendations and insights with regard to each device are obtained and used to design a new WMRA to overcome the limitations of these devices. This method benefits the researchers by providing a standardized procedure for kinematic analysis of WMRAs that is capable of evaluating independent designs.
{"title":"Analysis, evaluation and development of wheelchair-mounted robotic arms","authors":"Redwan Alqasemi, E. J. McCaffrey, K. Edwards, R. Dubey","doi":"10.1109/ICORR.2005.1501144","DOIUrl":"https://doi.org/10.1109/ICORR.2005.1501144","url":null,"abstract":"This paper focuses on kinematic analysis and evaluation of wheelchair mounted robotic arms (WMRA). It addresses the kinematics of the WMRA with respect to its ability to reach common positions while performing activities of daily living (ADL). A procedure is developed for the kinematic analysis and evaluation of a WMRA. In an effort to evaluate two commercial WMRAs, the procedure for kinematic analysis is applied to each manipulator. Design recommendations and insights with regard to each device are obtained and used to design a new WMRA to overcome the limitations of these devices. This method benefits the researchers by providing a standardized procedure for kinematic analysis of WMRAs that is capable of evaluating independent designs.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125687353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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