The ACT-4D: A novel rehabilitation robot for the quantification of upper limb motor impairments following brain injury

Arno H.A. Stienen*, Jacob G. McPherson, Alfred C. Schouten, Julius P A Dewald

*Corresponding author for this work

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

12 Scopus citations

Abstract

Rehabilitation robots and other controlled diagnostic devices are useful tools to objectively quantify debilitating, post-stroke impairments. The goal of this paper is to describe the design of the ACT-4D rehabilitation robot which can quantify arm impairments during functional movement. The robot can instantly switch between a compliant mode that minimizes impedance of voluntary movement, and a stiff mode that applies controlled position/speed perturbations to the elbow (up to 75 Nm or 450 deg/s at 4500 deg/s2). It has a limited range of movement of the shoulder and elbow, which is further reduced when a damper is needed to enhance the positional stiffness of the base robot. In recent experiments, the ACT-4D has been used successfully for the quantification of elbow impairments.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
PublisherIEEE Computer Society
ISBN (Print)9781424498628
DOIs
StatePublished - Jan 1 2011
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
Duration: Jun 27 2011Jul 1 2011

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

OtherRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CountrySwitzerland
CityZurich
Period6/27/117/1/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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    Stienen, A. H. A., McPherson, J. G., Schouten, A. C., & Dewald, J. P. A. (2011). The ACT-4D: A novel rehabilitation robot for the quantification of upper limb motor impairments following brain injury. In 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011 [5975460] (IEEE International Conference on Rehabilitation Robotics). IEEE Computer Society. https://doi.org/10.1109/ICORR.2011.5975460