Design and development of an affordable haptic robot with force-feedback and compliant actuation to improve therapyfor patients with severe hemiparesis

Andrew Theriault, Mark Nagurka, Michelle J. Johnson

Research output: Contribution to journalArticlepeer-review

15 Scopus citations

Abstract

The study describes the design and development of a single degree-of-freedom haptic robot, Haptic Theradrive, for post-stroke arm rehabilitation for in-home and clinical use. The robot overcomes many of the weaknesses of its predecessor, the TheraDrive system, that used a Logitech steering wheel as the haptic interface for rehabilitation. Although the original TheraDrive system showed success in a pilot study, its wheel was not able to withstand the rigors of use. A new haptic robot was developed that functions as a drop-in replacement for the Logitech wheel. The new robot can apply larger forces in interacting with the patient, thereby extending the functionality of the system to accommodate low-functioning patients. A new software suite offers appreciably more options for tailored and tuned rehabilitation therapies. In addition to describing the design of the hardware and software, the paper presents the results of simulation and experimental case studies examining the system's performance and usability.

Original languageEnglish
Article number6613475
Pages (from-to)161-174
Number of pages14
JournalIEEE Transactions on Haptics
Volume7
Issue number2
DOIs
StatePublished - 1 Jan 2014
Externally publishedYes

Keywords

  • Haptic applications
  • force-feedback
  • haptics technology
  • rehabilitation

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