Page 326 - Handbook of Biomechatronics

CHAPTER NINE

Upper Extremity Rehabilitation

Robots: A Survey

Borna Ghannadi, Reza Sharif Razavian, John McPhee
Systems Design Engineering, University of Waterloo, Waterloo, ON, Canada

Contents

1 Introduction 319
2 Classification by Mechanical Design 322
3 Classification by Training 325
4 Classification by Form of Rehabilitation 326
5 Classification by Control Scenarios 327
5.1 High-Level Control Scenarios 327
5.2 Low-Level Control Scenarios 331
6 Rehabilitation Planning 331
7 Recent Developments and Research Opportunities 332
7.1 BCI-Based Strategies for Control and Rehabilitation 333
7.2 FES-Based Strategies for Control and Rehabilitation 334
7.3 EMG-Based Strategies for Control and Rehabilitation 335
7.4 Model-Based Strategies for Control and Rehabilitation 335
8 Conclusion 336
Glossary 337
References 338

1 INTRODUCTION

Upper extremity movement defects are caused by different sources
such as upper limb component injuries and surgeries, overuse (Skirven
et al., 2011), stroke, traumatic brain injury, spinal cord injury, motoneuron
defects, and neurological diseases such as cerebral palsy and Parkinson’s dis-
ease (Maciejasz et al., 2014). Most of these defects need sessions of physical
therapy to improve joint range of motion (ROM), strengthen muscles
(Skirven et al., 2011), restore functional capabilities, and resolve impair-
ments (Maciejasz et al., 2014).
Stroke causes longstanding impairments, and it has a noticeable risk fac-
tor in older adults. One-sixth of people worldwide will experience stroke in

Handbook of Biomechatronics © 2019 Elsevier Inc. 319
https://doi.org/10.1016/B978-0-12-812539-7.00012-X All rights reserved.