24 A Wrist Extension for MIT-MANUS

Abstract

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 introduced a new brand of therapy, offering a highly backdrivable mechanism with a soft and stable feel for the user. MIT-MANUS 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 target areas on the body. The focus here is the development and implementation of a robot for wrist rehabilitation, designed to provide three rotational degrees of freedom. This paper covers the basic system design and characteristics along with a description of therapy. We are presently conducting clinical trials at the Burke Rehabilitation Hospital (White Plains, NY). If improvements comparable to those seen for shoulder and elbow are seen with the wrist robot, then rehabilitation therapists will have a pair of powerful robotic tools at their disposal to promote both impairment reduction and functional independence (MIT-MANUS and wrist robot).