Incorporating haptic effects into three-dimensional virtual environments to train the hemiparetic upper extremity

Document Type

Article

Publication Date

10-1-2009

Abstract

Current neuroscience has identified several constructs to increase the effectiveness of upper extremity rehabilitation. One is the use of progressive, skill acquisition-oriented training. Another approach emphasizes the use of bilateral activities. Building on these principles, this paper describes the design and feasibility testing of a robotic/virtual environment system designed to train the arm of persons who have had strokes. The system provides a variety of assistance modes, scalable workspaces and handrobot interfaces allowing persons with strokes to train multiple joints in three dimensions. The simulations utilize assistance algorithms that adjust task difficulty both online and offline in relation to subject performance. Several distinctive haptic effects have been incorporated into the simulations. An adaptive masterslave relationship between the unimpaired and impaired arm encourages active movement of the subject's hemiparetic arm during a bimanual task. Adaptive anti-gravity support and damping stabilize the arm during virtual reaching and placement tasks. An adaptive virtual spring provides assistance to complete the movement if the subject is unable to complete the task in time. Finally, haptically rendered virtual objects help to shape the movement trajectory during a virtual placement task. A proof of concept study demonstrated this system to be safe, feasible and worthy of further study. © 2006 IEEE.

Identifier

69549140470 (Scopus)

Publication Title

IEEE Transactions on Neural Systems and Rehabilitation Engineering

External Full Text Location

https://doi.org/10.1109/TNSRE.2009.2028830

ISSN

15344320

PubMed ID

19666345

First Page

512

Last Page

520

Issue

5

Volume

17

Grant

42161

Fund Ref

National Institutes of Health

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