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Neuro-Robotics pp 405–446Cite as

Unilateral and Bilateral Rehabilitation of the Upper Limb Following Stroke via an Exoskeleton

Part of the Trends in Augmentation of Human Performance book series (TAHP,volume 2)

Abstract

Recent studies reported positive effects of bilateral arm training on stroke rehabilitations. The development of novel robotic-based therapeutic interventions aims at recovery of the motor control system of the upper limb, in addition to the increase of the understanding of neurological mechanisms underlying the recovery of function post stroke. A dual-arm upper limb exoskeleton EXO-UL7 that is kinematically compatible with the human arm is developed to assist unilateral and bilateral training after stroke. Control algorithms are designed and implemented to improve the synergy of the human arm and the upper limb exoskeleton. Clinical studies on the robot-assisted bilateral rehabilitations show that both the unilateral and bilateral training have a positive effect on the recovery of the paretic arm. Bilateral training outperforms unilateral training by a significant improvement of motion range and movement velocities.

Keywords

  • Unilateral/bilateral stroke rehabilitation
  • Upper limb exoskeleton
  • Human arm
  • Kinematics
  • Dynamics

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Author information

Authors and Affiliations

  1. Department of Computer Engineering, University of California, Santa Cruz, CA, 95064, USA

    Jacob Rosen, Dejan Milutinović, Matt Simkins & Zhi Li

  2. Carbon Design Group, Seattle, WA, USA

    Levi M. Miller

  3. Apple Inc., Cupertino, CA, USA

    Hyunchul Kim

Authors
  1. Jacob Rosen
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  2. Dejan Milutinović
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  3. Levi M. Miller
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  4. Matt Simkins
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  5. Hyunchul Kim
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  6. Zhi Li
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Corresponding author

Correspondence to Jacob Rosen .

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Editors and Affiliations

  1. School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, Arizona, USA

    Panagiotis Artemiadis

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Rosen, J., Milutinović, D., Miller, L.M., Simkins, M., Kim, H., Li, Z. (2014). Unilateral and Bilateral Rehabilitation of the Upper Limb Following Stroke via an Exoskeleton. In: Artemiadis, P. (eds) Neuro-Robotics. Trends in Augmentation of Human Performance, vol 2. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-8932-5_15

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