Chapter 64 — Rehabilitation and Health Care Robotics

BONES and SUE exoskeletons for robotic therapy

BONES is a 5-DOF, pneumatic robot developed at the University of California at Irvine for naturalistic arm training after stroke. It incorporates an assistance-as-needed algorithm that adapts in real time to patient errors during game play by developing a computer model of the patient's weakness as a function of workspace location. The controller incorporates an anti-slacking term. SUE is a 2-DOF pneumatic robot for providing wrist assistance. The video shows a person with a stroke using the device to drive a simulated motor cycle through a simulated Death Valley.
Julius Klein, Steve Spencer, James Allington, Marie-Helene Milot, Jim Bobrow, David Reinkensmeyer