Series elastic holonomic mobile platform for upper extremity rehabilitation
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United States of America Patent
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Feb 14, 2017
Grant Date -
Feb 25, 2016
app pub date -
Apr 11, 2014
filing date -
Apr 12, 2013
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Abstract
It is proposed a design and control of series elastic holonomic mobile platform, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. It consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-of freedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, it is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. The device helps improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.
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