Robotic devices for physical rehabilitation of stroke patients: Fundamental requirements, target therapeutic techniques, and preliminary designs

Stroke survivors commonly undergo intensive evaluation of and treatment for impaired movement control for several months after stroke onset. We believe a significant potential exists for robotic devices (or 'rehabilitators') that can accurately measure post-stroke movement impairment, and augment or substitute for some manual therapeutic components of traditional physical and occupational therapy techniques. The purpose of this paper is to justify this claim, and to provide a starting framework for engineering and health care professionals interested in the development of rehabilitators. The fundamentals of stroke movement impairment and neurotherapeutic techniques are reviewed with respect to requirements for rehabilitators, and preliminary engineering designs for rehabilitators are discussed.