Static and dynamic characterization of the LIGHTarm exoskeleton for rehabilitation

This paper presents LIGHTarm, a passive gravity compensated exoskeleton for upper-limb rehabilitation suitable for the use both in the clinical environment and at home. Despite the low-cost and not actuated design, LIGHTarm aims at providing remarkable back-drivability in wide portions of the upper-limb workspace. The weight-support and back-drivability features are experimentally investigated on three healthy subjects through the analysis of the EMG activity recorded in static conditions and during functional movements. Kinematics is also monitored. Preliminary results suggest that LIGHTarm sharply reduces muscular effort required for limb support, quite uniformly in the workspace, and that remarkable back-drivability is achieved during the execution of functional movements.

[1]  R. Carson,et al.  Training of Reaching in Stroke Survivors With Severe and Chronic Upper Limb Paresis Using a Novel Nonrobotic Device: A Randomized Clinical Trial , 2008, Stroke.

[2]  D. Reinkensmeyer,et al.  Arm-Training with T-WREX After Chronic Stroke: Preliminary Results of a Randomized Controlled Trial , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[3]  Carolynn Patten,et al.  Effects of velocity on maximal torque production in poststroke hemiparesis , 2004, Muscle & nerve.

[4]  Maarten J. IJzerman,et al.  Systematic review of the effect of robot-aided therapy on recovery of the hemiparetic arm after stroke. , 2006, Journal of rehabilitation research and development.

[5]  F. Purroy,et al.  The Incidence, Prevalence, and Mortality of Stroke in France, Germany, Italy, Spain, the UK, and the US: A Literature Review , 2012, Stroke research and treatment.

[6]  W. Rymer,et al.  Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: a randomized controlled pilot study , 2006, Journal of NeuroEngineering and Rehabilitation.

[7]  Victor W. Mark,et al.  AutoCITE: Automated Delivery of CI Therapy With Reduced Effort by Therapists , 2005, Stroke.

[8]  W. Rymer,et al.  Robot-assisted movement training for the stroke-impaired arm: Does it matter what the robot does? , 2006, Journal of rehabilitation research and development.

[9]  Sarah J. Housman,et al.  A Randomized Controlled Trial of Gravity-Supported, Computer-Enhanced Arm Exercise for Individuals With Severe Hemiparesis , 2009, Neurorehabilitation and neural repair.

[10]  N. Hogan,et al.  Comparison of Two Techniques of Robot-Aided Upper Limb Exercise Training After Stroke , 2004, American journal of physical medicine & rehabilitation.

[11]  Frans C. T. van der Helm,et al.  Freebal: Design of a Dedicated Weight-Support System for Upper-Extremity Rehabilitation , 2009 .

[12]  W. Byblow,et al.  Priming the motor system enhances the effects of upper limb therapy in chronic stroke. , 2008, Brain : a journal of neurology.

[13]  Matteo Malosio,et al.  Analysis of elbow-joints misalignment in upper-limb exoskeleton , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[14]  D.J. Reinkensmeyer,et al.  Automating Arm Movement Training Following Severe Stroke: Functional Exercises With Quantitative Feedback in a Gravity-Reduced Environment , 2006, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[15]  Vicky Chan,et al.  Comparison of 3D, Assist-as-Needed Robotic Arm/Hand Movement Training Provided with Pneu-WREX to Conventional Table Top Therapy Following Chronic Stroke , 2013 .

[16]  Valentina Squeri,et al.  Desirable features of a “humanoid” robot-therapist , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[17]  A. Prochazka.  Passive Devices for Upper Limb Training , 2012 .

[18]  Hermano I Krebs,et al.  Robotic Measurement of Arm Movements After Stroke Establishes Biomarkers of Motor Recovery , 2014, Stroke.

[19]  Rahsaan J. Holley,et al.  Robotic Therapy Provides a Stimulus for Upper Limb Motor Recovery After Stroke That Is Complementary to and Distinct From Conventional Therapy , 2014, Neurorehabilitation and neural repair.

[20]  H. Krebs,et al.  Effects of Robot-Assisted Therapy on Upper Limb Recovery After Stroke: A Systematic Review , 2008, Neurorehabilitation and neural repair.

[21]  Matteo Malosio,et al.  Normative Data for an Instrumental Assessment of the Upper-Limb Functionality , 2015, BioMed research international.

[22]  Vicky Chan,et al.  Comparison of Three-Dimensional, Assist-as-Needed Robotic Arm/Hand Movement Training Provided with Pneu-WREX to Conventional Tabletop Therapy After Chronic Stroke , 2012, American journal of physical medicine & rehabilitation.

[23]  Robert Riener,et al.  Effects of Arm Training with the Robotic Device ARMin I in Chronic Stroke: Three Single Cases , 2009, Neurodegenerative Diseases.

[24]  V. Dietz,et al.  Three-dimensional, task-specific robot therapy of the arm after stroke: a multicentre, parallel-group randomised trial , 2014, The Lancet Neurology.

[25]  E. Taub,et al.  Automated Constraint-Induced Therapy Extension (AutoCITE) for movement deficits after stroke. , 2004, Journal of rehabilitation research and development.