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Proceedings of CAD'14, 2014, 43-45
Haptic Trajectories for Assisting Patients during Rehabilitation of Upper Extremities

Mario Covarrubias, Monica Bordegoni, Umberto Cugini, Politecnico di Milano

Abstract. Patients with motor function disorders due to brain disease are increasing recently in aging societies. The rehabilitation of patients’ impairment would help them in performing typical activities of daily living and their quality of life. If a patient’s upper extremity is paralyzed, the quality of life dramatically decreases because it becomes quite tough to live by oneself. In order to realize the most performing therapy, the assistance from the physical therapist is absolutely necessary. However, it is difficult to provide an every day therapy program due to the medical expenses and because a rehabilitation therapy, which is based on motion-oriented tasks, requires consistency and time by the physical therapist. In the last decade, robotic and haptic devices for upper motor rehabilitation have been increasingly studied, becoming a promising complement to traditional therapy as they can provide high-intensity, repetitive and interactive treatment of the impaired upper extremities. In addition, these systems can provide quantitative measurement of patients’ progress. Following this trend, we have developed several devices and systems in order to provide robotic assistance in the execution of tasks executed on a plane (2D tasks). A first prototype of a guidance haptic concept has been described in, and a multimodal assistive system has been described elsewhere, which consists in a combination of visual, haptic and sound interaction modalities.

Keywords. 2D and 3D haptic trajectories, upper extremities rehabilitation, haptic assistance, multimodal guidance system

DOI: 10.14733/cadconfP.2014.43-45