An Interactive Training System for Upper Limb Rehabilitation Using Visual and Auditory Feedback

Stroke is the leading cause of adult disability around the world. The arm skate is designed for recovering the motor function of upper limb after stroke. The interactive training system described in this paper consists of a robotic arm skate and a user interface which instructs the patient to exercise properly and interacts with the patient similar to a therapist. The robotic arm skate applies four omni-wheels to achieve omni-directional movement. The kinematic model is established to determine the rotational velocity and direction of the omni-wheel. The software offers both auditory and visual feedback in the training process so that patients can better engage in the exercise. It can recognize speech from patients and adjust the task according to the demands of patients. The range of motion of each training is recorded and monitored to see the recovery progress of patients. The training system is tested in a local rehabilitation center. A long-term experiment is recommended to see whether the training is effective.