title: Design of the ROBIN system: whole-arm multi-model sensorimotor environment for the Rehabilitation Of Brain INjuries while sitting or standing.
abstract: This paper presents the ROBIN (Rehabilitation Of Brain INjuries) multi-model system for whole-arm therapy retraining following a brain injury or a stroke. The design, control and integration of a new type of hybrid system based on a multi-robot implementation is described. The system is able to support multiple exercise design approaches, providing grasp and full upper limb movement over a large workspace whilst sitting or standing. When used in its largest configuration a total of 12 active and 9 passive degrees of freedom are available to provide active, active assist or passive grasp retraining in combination with reaching movements (and dynamic gravity compensation) in a reach-grasp-transfer-release sequence.
authors.affiliation: Middlesex University, School of Engineering and Information Sciences, The Burroughs, Hendon, London, NW4 4BT, UK. R.Loureiro@mdx.ac.uk
authors.forename: Rui C V
authors.initials: RC
authors.lastname: Loureiro
authors.forename: Thomas A
authors.initials: TA
authors.lastname: Smith
mesh_terms: D001930:Brain Injuries / Q000534:rehabilitation; D006801:Humans; D011187:Posture / Q000502:physiology; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D000071939:Stroke Rehabilitation