IntelliArm: An exoskeleton for diagnosis and treatment of patients with neurological impairments

Hyung Soon Park*, Yupeng Ren, Li-Qun Zhang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

59 Scopus citations

Abstract

This paper presents a novel 7 (active) +2 (passive) degrees of freedom (DOF) exoskeleton to achieve effective rehabilitation of upper limbs with neurological impairment. The 7+2 DOF robot was designed for allowing anatomically correct motions in the upper extremity, and for measuring 18 axis forces/torques and 9 DOF positions. A novel four-step integrated rehabilitation approach was developed and tested including 1) accurate and quantitative diagnosis which is not practical to do during manual clinical examinations or with existing robotic devices; 2) strenuous stretching of spastic joints based on the diagnosis and with intelligent control to adjust the stretching velocity constantly according to the joint conditions; 3) voluntary movement exercise to perform realistic functional tasks based on the patient-specific diagnosis, and 4) outcome evaluations which assessed the treatment outcome quantitatively with multiple physiological measures.

Original languageEnglish (US)
Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
Pages109-114
Number of pages6
DOIs
StatePublished - Dec 1 2008
Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ, United States
Duration: Oct 19 2008Oct 22 2008

Publication series

NameProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008

Other

Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
CountryUnited States
CityScottsdale, AZ
Period10/19/0810/22/08

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Biomedical Engineering

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    Park, H. S., Ren, Y., & Zhang, L-Q. (2008). IntelliArm: An exoskeleton for diagnosis and treatment of patients with neurological impairments. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 109-114). [4762876] (Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008). https://doi.org/10.1109/BIOROB.2008.4762876