Aspects of weight-support mechanisms in rehabilitation robotics

Arno H.A. Stienen, Edsko E.G. Hekman, Herman van der Kooij, Michael D. Ellis, Jules P.A. Dewald

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)
82 Downloads (Pure)


Weight support can facilitate upper-limb movements, with which the patients may do more and more meaningful exercises earlier in the rehabilitation process. Most rehabilitation devices support the arm against gravity in one way or the other. Weight support can be realized by limiting vertical displacement or applying constant supportive forces which counteract the gravitational pull. Of these, using constant supportive forces is the most natural way to facilitate natural arm movements as it allows full freedom of movement and the amount of weight support is scalable to the patients needs. To apply the supporting forces to the arm, endpoint mechanisms and exoskeletons are more complex to build and use then cable suspensions, but offer more control over the movements. Finally, passive weight support is inherently safe, but active systems have enhanced control options and the capability to create training conditions beyond limb weight.

Original languageEnglish
Title of host publicationWorld Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany
Subtitle of host publicationNeuroengineering, Neural Systems, Rehabilitation and Prosthetics
EditorsOlaf Dössel, Wolfgang C. Schlegel
Place of PublicationBerlin, Heidelberg
Number of pages3
ISBN (Electronic)978-3-642-03889-1
Publication statusPublished - 1 Dec 2009
EventWorld Congress on Medical Physics and Biomedical Engineering 2009 - ICM, Munich, Germany
Duration: 7 Sep 200912 Sep 2009

Publication series

NameIFMBE Proceedings
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277


ConferenceWorld Congress on Medical Physics and Biomedical Engineering 2009


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