ARMin: a robot for patient-cooperative arm therapy

Nef, Tobias; Mihelj, Matjaz; Riener, Robert (2007). ARMin: a robot for patient-cooperative arm therapy. Medical & biological engineering & computing, 45(9), pp. 887-900. Springer

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Task-oriented, repetitive and intensive arm training can enhance arm rehabilitation in patients with paralyzed upper extremities due to lesions of the central nervous system. There is evidence that the training duration is a key factor for the therapy progress. Robot-supported therapy can improve the rehabilitation allowing more intensive training. This paper presents the kinematics, the control and the therapy modes of the arm therapy robot ARMin. It is a haptic display with semi-exoskeleton kinematics with four active and two passive degrees of freedom. Equipped with position, force and torque sensors the device can deliver patient-cooperative arm therapy taking into account the activity of the patient and supporting him/her only as much as needed. The haptic display is combined with an audiovisual display that is used to present the movement and the movement task to the patient. It is assumed that the patient-cooperative therapy approach combined with a multimodal display can increase the patient's motivation and activity and, therefore, the therapeutic progress.

Item Type:

Journal Article (Original Article)


10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation

UniBE Contributor:

Nef, Tobias


600 Technology > 610 Medicine & health
600 Technology > 620 Engineering








Vanessa Vallejo

Date Deposited:

04 Jul 2014 09:17

Last Modified:

04 Jul 2014 09:18

Uncontrolled Keywords:

Robotics, Haptic device, Exoskeleton, Rehabilitation, Arm therapy


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