Dual robot system for upper limb rehabilitation after stroke: the design process

Stroke is the most common cause of severe disability in the UK. Arm impairment is common and recovery is partly dependent on the intensity and frequency of rehabilitation intervention.However, physical therapy resources are often limited, so methods of supplementing traditional physiotherapy are essential. Robot assisted physiotherapy is one way to increase the duration patients spend participating in rehabilitation activities. A single robot system has been developed at the University of Leeds that actively assists patients undertaking therapeutic movements in a three-dimensional workspace. However, using only a single point of contact at the wrist to assist with therapeutic reaching movements does not allow control or support of the more proximal joints of the upper limb. This could lead to discomfort during assisted exercise. In addition, the design suffers from a restrictive workspace, limiting the range of therapeutic exercise that can be undertaken. To address these limitations, the intelligent Pneumatic ArmMovement system has been developed. A major aspect of the development process has been the continual involvement of physiotherapists and stroke patients; the end users of the system. Through inclusion of these stakeholders, a system has been developed that satisfies their requirements for workspace, comfort, safety and ease of use.