Page 329 - Handbook of Biomechatronics

322 Borna Ghannadi et al.

• Provide intense repetitive and engaging exercises: This is the best practice
guideline for therapy (Richards and Malouin, 2015). Conventionally,
a therapist’s labor and enthusiasm plays an important role in providing
these exercises. However, there is a high interest in applying less therapist
labor-intensive modes, and this is in contrast to conventional therapy
approach for providing intense repetitive exercises.
• Provide assistance: Conventionally is accomplished with the help of ther-
apists, splints, and arm-supports.
• Improve assessment: Traditionally is achieved by force gauges, goniome-
ters, and timers.
• Provide feedback: This can be visual, auditory, or tactile.
Consideringthesegoalsandtheireffectiveness,increasingphysicallyimpaired
patient population (Maciejasz et al., 2014), the limited number of therapists
and decreased therapy hours because of economic issues (Reinkensmeyer
et al., 2002), and versatile features offered by robotic devices justify the
employment of rehabilitation robots in therapy sessions. These features
includeautomationandversatilityinproceduresandassessmentswhileapply-
ing intense repetitive and engaging exercises (Reinkensmeyer, 2009).
There are various reviews of upper extremity rehabilitation robots
(devices) in the literature (Hesse et al., 2003a; Brewer et al., 2007;
Brochard et al., 2010; Lo and Xie, 2012; Maciejasz et al., 2014; Babaiasl
et al., 2016; Proietti et al., 2016; Brackenridge et al., 2016; Gopura et al.,
2016; Huang et al., 2017), and there are different classifications for these
robots. However, there is a lack of comprehensive classification of these
robots. In this study, we thoroughly categorize these robots for different con-
texts. Here we use upper extremity rehabilitation robots and upper extremity
rehabilitation devices interchangeably. It is worth noting that upper extrem-
ity rehabilitation devices include passive and active robots. Mechanical, and
visual and auditory feedback devices are part of passive robots.
In the next sections, classification of these robots based on different
approaches is discussed. Next, a proper planning for rehabilitation is pres-
ented. Finally, recent developments and research opportunities in the field
of upper extremity rehabilitation robots are reviewed and conclusions
are made.

2 CLASSIFICATION BY MECHANICAL DESIGN

The mechanical design of upper extremity rehabilitation robotic sys-
tems can be classified as manipulanda or exoskeletons (Maciejasz et al., 2014).