Biomedical Engineering Reference
In-Depth Information
(a)
(b)
(c)
(d)
Figure 2.1
Pictures of the four versions of RUPERT depicting the changes in the device
over the years. (a) RUPERT; (b) RUPERT II; (c) RUPERT III; (d) RUPERT IV.
Figure 2.4
Plot of the joint angle profiles of the shoulder flexion/extension, elbow flex-
ion/extension and humeral rotation DOFs for the three therapy modes developed for
RUPERT.