title: Design and optimization of PARTNER: a parallel actuated robotic trainer for NEuroRehabilitation.
abstract: Robotic devices are a promising and dynamic tool in the realm of post-stroke rehabilitation. Researchers are still investigating how the use of robots affects motor learning and what design characteristics best encourage recovery. We present a parallel-actuated, end-effector robot designed to provide spatial assistance for upper-limb therapy while exhibiting low impedance and high backdrivability. A gradient based optimization was performed to find an optimal design that accounted for force isotropy, mechanical advantage, workspace size, and counter-balancing. A beta prototype has been built to these specifications (low impedance and high backdrivability) and has undergone initial controller performance as well as fit and function testing. By fitting a nonlinear model to experimental frequency response data, the apparent mass, viscous friction coefficient, and dynamic dry friction coefficient were determined to be 0.242 kg, 0.114 Ns/m, and 0.894 N respectively. The robot will serve as a testing platform to investigate motor learning and evaluate the efficacy of control schemes for post-stroke movement therapy.
authors.forename: Hossein
authors.initials: H
authors.lastname: Taheri
authors.forename: Stephen A
authors.initials: SA
authors.lastname: Goodwin
authors.forename: James A
authors.initials: JA
authors.lastname: Tigue
authors.forename: Joel C
authors.initials: JC
authors.lastname: Perry
authors.forename: Eric T
authors.initials: ET
authors.lastname: Wolbrecht
mesh_terms: D004867:Equipment Design; D006801:Humans; D012371:Robotics / Q000295:instrumentation*; D000071939:Stroke Rehabilitation / Q000295:instrumentation* / Q000379:methods; D034941:Upper Extremity / Q000502:physiology / Q000503:physiopathology