Computer and visual interface development for Wrist Gimbal forearm and wrist exoskeleton

Abstract

Stroke is the leading cause of long-term adult disability in the U.S., with an annual cost estimated at $69 billion. Neuroplasticity of the brain allows stroke patients to regain lost motor function, but does require intensive therapy protocols. The outcome of motor rehabilitation strongly depends on the dose of exercises, which is commonly limited by high costs associated with both traditional and robot-aided therapy protocols. Development of cost-efficient rehabilitation robots coupled with engaging visual interfaces carries the potential to improve accessibility of robot-aided therapy protocols to a larger number of patients and to motivate patients to complete high-dose, intensive exercise protocols. The first goal of this project has been development of a custom computer interface, to achieve cost reduction for Wrist Gimbal, a forearm and wrist rehabilitation robot that enables programmable force feedback for stroke therapy. The interface developed as part of this project has successfully reduced the materials cost of the robot (originally $10,200) more than 50%. A solution including digital signal processor-based hardware together with C# .NET based software has been implemented and validated. The second goal of the project has been development of a game-like visual interface to enable engaging exercise tasks for stroke patients. A literature review of games for rehabilitation has been completed. A unique visual interface has been developed and implemented, building upon concepts from serious games, virtual reality, patient motivation, art therapy, and assistive force feedback algorithms.