Date of Award

Spring 2006

Document Type

Thesis - Restricted

Degree Name

Master of Science (MS)

Department

Biomedical Engineering

First Advisor

Winters, Jack M.

Second Advisor

Scheidt, Robert A.

Third Advisor

Stoeckmann, Tina

Abstract

Recent research has shown that upper extremity robotic manipulators such as the MITMANUS and MIME can provide significant therapeutic benefit, specifically to those with stroke induced arm impairment. However, robotic devices of this nature are often expensive and may be unattainable to a vast majority of the population. Other research has shown that therapeutic activities which are goal directed and enjoyable to use increase the likelihood of successful treatment. This includes the approach of Computer-Assisted Motivating Rehabilitation (CAMR), which utilizes patient game play in a therapeutic manner. The device presented here, TheraJoy, has modified a commercial force-feedback joystick to extend the range of motion needed for control in the horizontal plane, and more recently, to vertical movements by the addition of a linkage extension system. This device, along with joysticks, is then supported by a suite of new assessment and therapeutic software called UniTherapy. The goals of this thesis are to present the design a system for shoulder-arm assessment and therapy that is effective in both the research and clinical rehabilitation settings. This includes development and construct of the TheraJoy joystick manipulator and the evaluation of this design through a pilot study involving therapists, engineers and subjects with stroke induced arm impairment. This study then is used in the design of a third generation TheraJoy which is used in a study to evaluate how changing the position of each of the joysticks with relation to both the body and the neutral axis of the shoulder changes the movement and muscle control strategies used to track target movements in different areas of the arm workspace.

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