Hardware- versus Human-centric Assessment of Rehabilitation Robots

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dc.contributor.advisorO'Malley, Marcia K.
dc.contributor.committeeMemberGhorbel, Fathi H
dc.contributor.committeeMemberDick, Andrew J
dc.creatorRose, Chad Gregory
dc.date.accessioned2016-01-07T22:09:17Z
dc.date.available2016-01-07T22:09:17Z
dc.date.created2015-05
dc.date.issued2015-04-20
dc.date.submittedMay 2015
dc.date.updated2016-01-07T22:09:17Z
dc.description.abstractIndividuals with disabilities arising from neurological injury require rehabilitation of the distal joints of the upper extremities to regain the ability to independently perform activities of daily living (ADL). Robotic rehabilitation has been shown to effectively conduct high intensity, long duration therapy and quantitatively assess the effects of therapy. This thesis presents methods and results for validating rehabilitation devices for training and assessment. Traditionally, methods for validating rehabilitation robots relied on robotic characterizations, which enables comparison of different designs' performance independent of a human user. An example of this method is presented here, in particular quantifying the torque output, range of motion, closed loop position performance, and high spatial resolution of two rehabilitation devices. However, these traditional validation methods do not assess the effect wearing the robot has on the user, and a new assessment method has been developed to address this shortcoming of traditional methods. A novel hand and wrist device was assessed through kinematic analysis of synergistic movements, as quantified by velocity- and position-dependent metrics. This experimental approach is promising for the characterization of multi-articular wearable robots as measurement tools in robotic rehabilitation. Together, the two methods presented can be used to validate rehabilitation robotic devices.
dc.format.mimetypeapplication/pdf
dc.identifier.citationRose, Chad Gregory. "Hardware- versus Human-centric Assessment of Rehabilitation Robots." (2015) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/87786">https://hdl.handle.net/1911/87786</a>.
dc.identifier.urihttps://hdl.handle.net/1911/87786
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectRehabilitation Robotics
dc.subjectrobotic characterization
dc.subjectmotion capture
dc.subject
dc.titleHardware- versus Human-centric Assessment of Rehabilitation Robots
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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