Spherical Parallel Instrument for Daily Living Emulation (SPINDLE) to Restore Motor Function of Stroke Survivors

Task-oriented training is crucial in the rehabilitation of patients with paresis to maximize the training effect of target tasks. To train the stroke patients with the closest form of activities in daily living, a new type of rehabilitation strategy is suggested that can train rotational tasks similar to active daily living tasks. The device is structured with a 3-RRR parallel manipulator to create three-dimensional rotations in a large workspace and interact with the user as an external object. The design parameter is optimized in two steps using the conventional global conditioning index and the global minimum active load to ensure controllability and force transmission through the device. The kinematic structure is verified with the motion capture system and encoders on motors. We envision using this compact table-top device emulating physical characteristics of daily living tasks to enhance the motor performance of stroke patients and their quality of lives.