A Wearable Exoskeletal Rehabilitation Robot for Interactive Therapy - Biomechatronics in Medicine and Healthcare - page 14

Tab l e 2 . 2 Details of Some of the Current Upper-Extremity Rehabilitation Robots

Type a DOF b Movements c Name Actuators Sensors Clinical Study

MIT MANUS OC I 2 2D planar reaching Brushless DC Position, velocity & Yes

(Planar module) motors Force

MIT MANUS OC I 3 Wrist FE Brushless DC Position &

(Wrist module) Wrist yaw motors Force Yes

Wr i s t SP

MIT MANUS OC I 1 Hand opening/closing Brushless DC Position, velocity & No

Force *

(Hand module) motors

MIME OC II 3 3D reaching DC motors Position & Force Yes

ARM Guide OC II 1 Reaching along a DC motor Position & Yes

straight line Force

Arm In (II) Ex I 6 3D reaching DC motors & Position & No

Eblow SP harmonic drives Force

Wr i s t FE

Gentle/S OC I 3 3D reaching 3 DOF Haptic Master Position Yes

(FCS Robotics)

Pneu-WREX OC I 4 3D reaching Pneumatic pistons Position, Velocity & No

Pressure

MEMOS OC II 2 2D planar reaching DC motors Positon & Force Yes

NeReBot OC II 3 3D reaching Cables driven Position & Yes

Force ∗ by DC motors

HWARD Ex II 3 Wrist FE Pneumatic pistons Position & Yes

Force * Finger/thumb FE

Hand Mentor TM Ex II 1 Wrist FE(coupled Pneumatic Position & Yes

Force *

with finger FE) muscle actuator

a Robot classification ( Table 2.1 ) (OC - Operational Class, Ex - Exoskeleton).
b Indicates the number of actuated degrees of freedom.
c The different movements supported by the robot (FE - Felxion/Extension, SP - Supination/Pronation, AbAd - Abduction/Adduction)
∗ Force is measured indirectly through the inputs to the actuators (eg. motor current, pressure etc.)