Page 201 - Control Theory in Biomedical Engineering

182 Control theory in biomedical engineering

6.3 A brief history
In 1910, Theodor B€udingen proposed a patent for the first rehabilitation
machine driven by an electric motor to guide and maintain stepping move-
ments in patients with heart disease (Gassert and Dietz, 2018). In the 1930s,
Richard Scherb developed a cable-driven apparatus to move joints for
orthopedics therapy supporting multiple interaction modes (passive,
active- and active-resisted movements). The first powered exoskeletons
were proposed in the 1970s (Gassert and Dietz, 2018). The first robot
deployed in clinical trials delivering rehabilitation therapy was the MIT-
Manus developed in 1989, which uses a 6-DOF PUMA 560 robot to inter-
act with the impaired patient. This system can operate in three unilateral
modes and one bilateral mode (Krebs and Volpe, 2013). The unilateral
modes are passive, in which the patient remains passive while the robot
moves the arm along a preprogrammed path; active-assisted, in which the
patient initiates movement and the robot assists and guides the motion along
the desired path; and active-constrained, in which the robot resists motion
along the path and provides a restoring force in all other directions. The Mir-
ror Image Motion Enabler (MIME) was the first system to explore bilateral
training in robotic applications for stroke rehabilitation (Burgar et al., 2000).
Development of rehabilitation robots for the lower extremitis began in
1994, with the design of the Lokomat (Gassert and Dietz, 2018). The most
widely commercially available robotic systems for assisting individuals with
disabilities are the Handy 1 (Rehab Robotics Limited, UK) developed in
1987 by Mike Topping, which enables people with little or no hand func-
tion to independently complete everyday functions such as eating, drinking,
washing, shaving, and teeth cleaning (Topping and Smith, 1998); the
wheelchair-mounted MANUS (Exact Dynamics, Netherlands) with two-
fingered gripper (Driessen et al., 2001); and the wheelchair-mounted
Raptor (Applied Resources Corporation, U.S.A.) that allows individuals
with disabilities to feed themselves and reach objects on the floor, on a table,
or above their heads (Speich and Rosen, 2008).

6.4 Classification and related devices
Rehabilitation robots can be classified and studied using various taxo-
nomies. The most natural classification is based on the anatomy of the
two extremities of the human body (Hesse et al., 2003; Pitkin, 2015) by con-
sidering upper extremity rehabilitation devices (Butcher and Meals, 2002;
Balasubramanian et al., 2010; Brochard et al., 2010; Gopura et al., 2011;