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Author

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

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Developing a multi-joint upper limb exoskeleton robot for diagnosis, therapy and outcome evaluation in neurorehabilitation

Cited 9 times inthomson ciCited 10 times inthomson ci
Title
Developing a multi-joint upper limb exoskeleton robot for diagnosis, therapy and outcome evaluation in neurorehabilitation
Author
Ren, YupengKang, Sang HoonPark, Hyung-SoonWu, Yi-NingZhang, Li-Qun
Keywords
Neurorehabilitation; rehabilitation robotics; robot-aided diagnosis; robot-assisted therapy
Issue Date
201305
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, v.21, no.3, pp.490 - 499
Abstract
Arm impairments in patients post stroke involve the shoulder, elbow and wrist simultaneously. It is not very clear how patients develop spasticity and reduced range of motion (ROM) at the multiple joints and the abnormal couplings among the multiple joints and the multiple degrees-of-freedom (DOF) during passive movement. It is also not clear how they lose independent control of individual joints/DOFs and coordination among the joints/DOFs during voluntary movement. An upper limb exoskeleton robot, the IntelliArm, which can control the shoulder, elbow, and wrist, was developed, aiming to support clinicians and patients with the following integrated capabilities: 1) quantitative, objective, and comprehensive multi-joint neuromechanical pre-evaluation capabilities aiding multi-joint/DOF diagnosis for individual patients; 2) strenuous and safe passive stretching of hypertonic/deformed arm for loosening up muscles/joints based on the robot-aided diagnosis; 3) (assistive/resistive) active reaching training after passive stretching for regaining/improving motor control ability; and 4) quantitative, objective, and comprehensive neuromechanical outcome evaluation at the level of individual joints/DOFs, multiple joints, and whole arm. Feasibility of the integrated capabilities was demonstrated through experiments with stroke survivors and healthy subjects. © 2001-2011 IEEE.
URI
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DOI
http://dx.doi.org/10.1109/TNSRE.2012.2225073
ISSN
1534-4320
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