The ACT-4D: a novel rehabilitation robot for the quantification of upper limb motor impairments following brain injury

IEEE Int Conf Rehabil Robot. 2011;2011:5975460. doi: 10.1109/ICORR.2011.5975460.


Rehabilitation robots and other controlled diagnostic devices are useful tools to objectively quantify debilitating, post-stroke impairments. The goal of this paper is to describe the design of the ACT-4D rehabilitation robot which can quantify arm impairments during functional movement. The robot can instantly switch between a compliant mode that minimizes impedance of voluntary movement, and a stiff mode that applies controlled position/speed perturbations to the elbow (up to 75 Nm or 450 deg/s at 4500 deg/s(2)). It has a limited range of movement of the shoulder and elbow, which is further reduced when a damper is needed to enhance the positional stiffness of the base robot. In recent experiments, the ACT-4D has been used successfully for the quantification of elbow impairments.

Publication types

  • Research Support, N.I.H., Extramural
  • Research Support, Non-U.S. Gov't

MeSH terms

  • Brain Injuries / rehabilitation*
  • Humans
  • Male
  • Movement / physiology
  • Robotics / instrumentation*
  • Robotics / methods*
  • Upper Extremity / physiology*