A robot for wrist rehabilitation

In 1991, a novel robot named MIT-MANUS was introduced as a test bed to study the potential of using robots to assist in and quantify the neuro-rehabilitation of motor function. It proved an excellent fit for the rehabilitation of shoulder and elbow of stroke patients with results in clinical trials showing a reduction of impairment in these joints. The greater reduction in impairment was limited to the group of muscles exercised. This suggests a need for additional robots to rehabilitate other degrees of freedom. This paper outlines the mechanical design of a robot for wrist rehabilitation.

I. Introduction

Rather than using robotics as an assistive technology, our research focuses on the development of robotics as a tool to enhance the productivity of clinicians in their efforts to facilitate a disabled individual's recovery. To that end, we deployed and commenced extensive clinical trials of our first robot, MIT-MANUS (see figure 1), at the Burke Rehabilitation Hospital, White Plains, NY in 1994 [5]. MIT-MANUS has been in daily operation for over 6 years, delivering therapy to over 100 stroke patients. Copies have been recently deployed at the Spaulding (Boston), Helen Hayes (NY), Baltimore & Cleveland VA Hospitals.