Three-Dimensional Multi-Degree-of-Freedom Arm Therapy Robot (ARMin)

Nef, Tobias; Klamroth-Marganska, Verena; Keller, Urs; Riener, Robert (2022). Three-Dimensional Multi-Degree-of-Freedom Arm Therapy Robot (ARMin). In: Reinkensmeyer, David J.; Marchal-Crespo, Laura; Dietz, Volker (eds.) Neurorehabilitation Technology (pp. 623-648). Cham: Springer 10.1007/978-3-031-08995-4_27

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Rehabilitation robots have become an important tool to complement rehabilitation training in patients with neurological disorders such as stroke and spinal cord injury. Arm rehabilitation robots can create a motivational, activity-based environment supporting an intensive rehabilitation training with frequent and numerous repetitions. Therefore, robots have the potential to improve the rehabilitation process in patients with lesions of the central nervous system. In this chapter, the three-dimensional, multi-degree-of-freedom ARMin arm robot, and the related ChARMin and Armeo Power robots, are presented. The devices have an exoskeleton structure that enables the training of activities of daily living. Patient-responsive control strategies assist the patient only as much as needed and stimulate patient activity. This chapter covers the mechanical setup, the therapy modes, and the clinical evaluation of the exoskeleton robots. It concludes with an outlook on ongoing developments.

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