TY - GEN
T1 - A robotic hand rehabilitation system with interactive gaming using novel electro-rheological fluid based actuators
AU - Unluhisarcikli, Ozer
AU - Weinberg, Brian
AU - Sivak, Mark
AU - Mirelman, Anat
AU - Bonato, Paolo
AU - Mavroidis, Constantinos
PY - 2010
Y1 - 2010
N2 - A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game.
AB - A newly developed hand rehabilitation system is presented that combines robotics and interactive gaming to facilitate repetitive performance of task specific exercises for patients recovering from neurological motor deficits. A two degree of freedom robotic interface allows coordinated motions of the forearm and the hand (pronation/supination and grasp/release, respectively). It is driven by two novel Electro-Rheological Fluid based hydraulic actuators. Tests were conducted to characterize these actuators, and feed-forward controllers were developed for their force/torque control. A virtual reality environment (maze game) was developed in which the robot applies force fields to the user as the user navigates the environment, forming a haptic interface between the patient and the game.
UR - http://www.scopus.com/inward/record.url?scp=77955812830&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509806
DO - 10.1109/ROBOT.2010.5509806
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AN - SCOPUS:77955812830
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1846
EP - 1851
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -