title: A survey on robotic devices for upper limb rehabilitation.
abstract: The existing shortage of therapists and caregivers assisting physically disabled individuals at home is expected to increase and become serious problem in the near future. The patient population needing physical rehabilitation of the upper extremity is also constantly increasing. Robotic devices have the potential to address this problem as noted by the results of recent research studies. However, the availability of these devices in clinical settings is limited, leaving plenty of room for improvement. The purpose of this paper is to document a review of robotic devices for upper limb rehabilitation including those in developing phase in order to provide a comprehensive reference about existing solutions and facilitate the development of new and improved devices. In particular the following issues are discussed: application field, target group, type of assistance, mechanical design, control strategy and clinical evaluation. This paper also includes a comprehensive, tabulated comparison of technical solutions implemented in various systems.
authors.forename: Paweł
authors.initials: P
authors.lastname: Maciejasz
authors.affiliation: Chair of Medical Engineering (mediTEC), Helmholtz-Institute for Biomedical Engineering, RWTH Aachen University, Pauwelsstraße 20, 52074 Aachen, Germany. eschweiler@hia.rwth-aachen.de.
authors.forename: Jörg
authors.initials: J
authors.lastname: Eschweiler
authors.forename: Kurt
authors.initials: K
authors.lastname: Gerlach-Hahn
authors.forename: Arne
authors.initials: A
authors.lastname: Jansen-Troy
authors.forename: Steffen
authors.initials: S
authors.lastname: Leonhardt
mesh_terms: D006801:Humans; D026741:Physical Therapy Modalities / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D034941:Upper Extremity