Journal article

Constraining Upper Limb Synergies of Hemiparetic Patients Using a Robotic Exoskeleton in the Perspective of Neuro-Rehabilitation

Vincent Crocher, Anis Sahbani, Johanna Robertson, Agnes Roby-Brami, Guillaume Morel

IEEE Transactions on Neural Systems and Rehabilitation Engineering | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2012


The aim of this paper was to explore how an upper limb exoskeleton can be programmed to impose specific joint coordination patterns during rehabilitation. Based on rationale which emphasizes the importance of the quality of movement coordination in the motor relearning process, a robot controller was developed with the aim of reproducing the individual corrections imposed by a physical therapist on a hemiparetic patient during pointing movements. The approach exploits a description of the joint synergies using principal component analysis (PCA) on joint velocities. This mathematical tool is used both to characterize the patient's movements, with or without the assistance of a physical therap..

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University of Melbourne Researchers