The development of a pneumatic muscle driven hand therapy device, the Mentor trade mark, reinforces the need for volitional activation
of joint movement while concurrently offering knowledge of results about range of motion, muscle activity or resistance to movement.
The device is well tolerated and has received favorable comments from stroke survivors, their caregivers, and therapists.
The device is a parallel robot that incorporates two pneumatically powered, double-acting, compliant, spring over muscle actuators as
actuation links which move the ankle in dorsiflexion/plantarflexion and inversion/eversion. The compliant muscles will assist the
patient in a reasonable gait pattern without forcing them to follow an exact pattern. *precursor to the Foot Mentor
The development of a pneumatic muscle (PM) driven therapeutic device, the RUPERT™, has the potential of providing a low cost and
safe take-home method of supplementing therapy in addition to in the clinic treatment. The device can also provide real-time, objective
assessment of functional improvement from the therapy. *RUPERT is the precursor to the Hand Mentor
We have tested the device on stroke survivors performing two critical activities of daily living (ADL): reaching out and self feeding.
The future improvement of the device involves increased degrees-of-freedom and interactive control to adapt to a user’s physical
conditions. *RUPERT is the precursor to the Hand Mentor
An adaptive robot control strategy combining a PID-based feedback controller and an Iterative Learning Controller (ILC) is
proposed for performing passive reaching tasks. Additionally, a fuzzy rule-base for estimating the learning rate for the ILC is also
proposed. The proposed control scheme has the ability to adapt to different subjects for performing different reaching tasks.
*RUPERT is the precursor to the Hand Mentor
The Hand Mentor provides an effective means to improve upper-extremity motor functioning and functional performance in daily
tasks followed this client’s engagement in distal initiation of movement during an RTP exercise regimen that was robotically
The Hand Mentor is an effective adjunct to deliver intensive rehabilitation important in upper limb functional recovery. The Hand
Mentor therapy group had a greater increase in rating of mood and a greater increase in rating of social participation. The Hand
Mentor therapy group had significant improvements in stroke recovery rating Robotic-assisted therapy may be an effective alternative
or adjunct to the delivery of intensive task practice interventions to enhance hand function recovery in patients with stroke.
The system was tested in two studies. The first study involved receiving therapeutic training during three time weekly clinic visits for 4
weeks. The second study set up the robot-assisted rehabilitation system at the patients’ homes, where the therapeutic training was
practiced on a daily base. Patients’ performances were assessed using clinical evaluation tools, including Wolf Motor Function Test and
Fugl Meyer Assessment (FMA), both before and after the training. Both two patients in the home-application setting demonstrated
functional improvement after the training. They also demonstrated significant increase in the movement smoothness on reaching some
target. Both clinical tests and objective statistical tests from robot sensory data agree on the functional improvement. *RUPERT is the
precursor to the Hand Mentor
The therapeutic effect of repetitive therapy is best realized by long term and multiple intensive sessions per day. Our approach
provides valuable information on determining therapy intensity and repetitions and monitoring progress. After one week, participants
increased the practice intensity to twice a day with evidence of competency in motor control for more demanding tasks.
The Hand Mentor robotic-assisted therapy paired with a HEP can be successfully delivered within a home environment to a person
with stroke.When combined with a home exercise program, the Hand Mentor provides similar or greater improvements in upper limb
function that home exercise alone. Robotic assisted therapy is an efficacious adjunct to a HEP program to elicit substantial
improvements in upper extremity motor function especially in those persons with stroke who lack access to stroke rehabilitation centers.
Individuals were able to make functional improvements in the use of their impaired extremities poststroke using the Hand Mentor
telerehabilitation device in the home. The in-home service delivery regimen reduced the cost of therapy while expanding access to a
rehabilitation modality for individuals who would not otherwise have received services.
The Hand Mentor improves upper limb function to the same extent as traditional therapy interventions (home exercise program).
The device is portable and has a wireless and Web-based capability of transmitting data from a home to a secured base station. As a
result, the TR component may be a practical and valuable approach to delivering poststroke care when limited resources, manpower
shortages, long distances, or compromised patient mobility restrict or limit access to other treatment locations; however, a more
detailed selection of users will be required before this approach could become better than a home-based exercise program.
The Hand Mentor provides a valuable rehabilitation tool to extend effective, evidence-based and specialized rehabilitation services
for upper and lower limb rehabilitation especially for those with difficulty accessing therapy services because they had exhausted
their benefits or because traveling to outpatient therapy was too cumbersome due to distance were able to perform therapeutic
activities in the home daily (or at least multiple times per week). Participants who were still receiving formal therapy services either
in-home or in the clinic were able to perform therapeutic activities in the home on the days they were not attending/receiving formal
The Hand Mentor improves quality of life and depression symptoms when utilized in the stroke survivor’s home.
The results of this study provide several relevant contributions to the field of occupational therapy:
Robot-assisted therapy with the Hand Mentor, improved QOL and depression measures in people less than 6 months after stroke. An 8-wk
program was sufficient time to observe changes in the QOL and depression measures for this client population. Use of a robot-assisted
device in the home provided an objective way for therapists to remotely monitor people after stroke through an electronic database
system and a weekly phone conversation. For people after stroke with limited access to traditional therapy, home-based
interventions may be a valuable intervention for continued nonmotor recovery.
Significant improvements in tracking performance translated into improvements in the UE portion of the Fugl-Meyer Motor
Assessment, range of motion, and all subscores for the Stroke Impact Scale. Regression modeling found daily training time to
be a significant positive predictor of decreases in tracking error, indicating the presence of a potential dose-response relationship.
The results of this pilot study indicate that the TDS-HM system can elicit significant improvements in moderate to severely
impaired stroke survivors. This pilot study gives preliminary insight into the volume of treatment time required to improve
Home-based, robotic therapy provided by the Hand Mentor reduced costs (65%), while expanding access to a rehabilitation modality
for people who would not otherwise have received care. Those who participated made clinically meaningful improvements in the use of
their impaired extremities using a robotic device in the home.
Results of the present study uncovered an important brain-behavior relationship that can be induced by the Hand Mentor intervention
between the connectivity in the unaffected brain hemisphere and the motor behavior of the affected hands in stroke patients. Findings
reported in this study strengthened our understanding of stroke conditions and brain plasticity in stroke survivors.
Telerehabilitation robotics is one of the newest additions to technologically mediated health care that combines established features of
robot-assisted rehabilitation and telehealthcare to provide rehabilitation services at a distance. Several studies have documented
clinically and statistically significant improvements in upper and lower extremity functioning, while several feasibility studies have
documented improvements in high-fidelity kinematics. Telerehabilitation robotic delivery has also been shown to expand access to
rehabilitation services. The only fully deployed telerehabilitation robotics platform is the Hand Mentor.