Abstract
An extension to an existing planar manipulator for robot-aided therapy is described. The MIT-MANUS rehabilitation workstation, shown to be effective in sensorimotor training of recovering stroke patients, is augmented by the addition of a module permitting movements in a 3-dimensional workspace. Key analyses in the mechanical design of the new module are described. A compact, screw-driven, low mechanical impedance module meets the target requirements. Manufacturing of this novel device will be followed shortly by its deployment in clinical trials.
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26th Biennial Mechanisms and Robotics Conference
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