Author/Editor		Munih, Marko; Bardorfer, Aleš; Kodek, Timotej; Mali, Uroš; Ponikvar, Matija; Bajd, Tadej
Title		Robotika v rehabilitaciji hemiplegične roke
Translated title		Robotics for hemiplegic hand rehabilitation
Type		članek
Source		In: Goljar N, Štefančič M, editors. Novosti v rehabilitaciji po možganski kapi. Zbornik predavanj 15. dnevi rehabilitacijske medicine; 2004 mar 26-27; Ljubljana. Ljubljana: Inštitut Republike Slovenije za rehabilitacijo,
Publication year		2004
Volume		str. 253-66
Language		slo
Abstract		We are here describing some applications of haptic technology being used for hemiplegic hand. The introductory part is covering the development of robotic devices aimed for hand rehabilitation. Mentioned are those intended for producing limb movements and also others that enable quantitative measurements. Referred are some dilemmas in rehabilitation with high technology devices, for clear distinction are listed also some mechatronics assisstive devices. Next section is specifying the term of haptics, defining the second order mechanical impedance and explaining meaning of M, B in K matrices in robotic haptic interface. Indicated is also influence of these values on measured EMG activity of the hand. In continuation is depicted GENTLElS system for rehabilitation of hemiplegic hand, version P2. Shown are main components of hardware and capabilities of the software. Next section is covering the 1-Match project, as a method for quantitative assessment of the upper limb functional state using haptic interface. A virtual environment is used for presentation of the patients task and is rendered using a graphics workstation and a haptic interface. The patient task range includes: labyrinth, slow accurate and fast movements, positioning accuracy and also force demanding upper limb tasks. In sequence is discussed study for assessment of the shoulder and elbow joint passive moments. Slow movement of arm in contact with the robot represents a new evaluation method possible with haptic interfaces. At the end is presented a new haptic device for finger exercise.
Descriptors		HEMIPLEGIA ARM ROBOTICS