Date of Award

Summer 2006

Document Type

Thesis - Restricted

Degree Name

Master of Science (MS)


Electrical and Computer Engineering


This thesis is concerned with the development of a model for generating trajectories for upper extremity movement that more closely represent functional movement. This model has been developed for implementation in the Activitie of Daily Living Exercise Robot (ADLER) therapy environment. ADLER is a newly developed upper extremity stroke rehabilitation robotic therapy environment with which patient can perform activities of daily living. Chapter One provides background information to make the motivation for the project clear. This chapter present the background of stroke including its cause and effect, some common rehabilitation strategies current robotic therapy systems, and finally the ADLER therapy environment. Chapter Two will delve into the method and analysis of motion data to help support the need for the development of the proposed model. The current modeling scheme (minimum jerk theory) that is used on ADLER will be addressed in this chapter. The data to support the need for the development of a new functional trajectory model comes from eight able-bodied individuals performing activities of daily living specifically eating pudding and drinking water. Chapter Three will explore the current minimum jerk trajectory model that is being used in robotic therapy environments and it application to functional tasks. The question of the adequacy of this model for implementation in robotic therapy environments will be addressed as the trajectories it generate are compared with functional movement trajectories. Chapter Four will address the development of the new model for natural trajectory generation. The patterns that were observed in functional movement were utilized to develop the model. One of the goals in model development was to create a model that can perform robustly like the CNS and therefore create differing trajectories dependent upon the task requirements. Chapter Five will present data from a case study on the ADLER environment to determine the accuracy and adequacy of the model. The results will be compared to those obtained when implementing the original minimum jerk model for trajectory generation. And finally Chapter six will conclude the analysis by addressing concerns brought to light throughout the thesis and providing ideas and suggestions for future directions based on the data presented.



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