Panasonic Power Jacket Evaluation Report Professor Steve Cramer Professor Jim Bobrow Professor Walt Scacchi Professor Mark Bachman Professor Jeff Krichmar Professor David Reinkensmeyer Dr. Daisuke Aoyagi University of California at Irvine

Outline Summary Report Covering the Following Areas 1) Evaluation and analysis of PSEC Power Jacket 2) Opinion on PSEC product suitability for neural rehabilitation 3) Opinion on the value of the Power Jacket as a rehabilitation tool 4) Advice on effective specification for the Power Jacket 5) Determine the interest at UCI in a joint collaboration 6) Possible objectives for next phase collaboration

1. Evaluation and analysis of PSEC Power Jacket A.Advantages 1.Nicely engineered 2.Simple 3.Lightweight/Wearable (can stand and move around with it) 4.Soft B.Disadvantages 1.Need pneumatic power supply (not truly portable) 2.Only one degree of freedom (limited therapeutic value?) 3.No overarching rehabilitation program 4.No engaging software/computer games 5.Difficult to put on without assistance 6.Limited range of motion 7.Limited control ability (substantial control lag, only one control mode)

2. Opinion on PSEC product suitability for neural rehabilitation The Jacket is similar to existing devices that are now being sold with success (e.g. Hand Mentor) and have been found to have therapeutic value. However, optimal rehabilitation will require more than good hardware, it will require a therapeutic program focused on function that incorporates the Jacket. A Power Jacket user would clearly benefit from rehabilitation training when such experience is motivated through computer games and virtual worlds for health. Once on, the PSEC Power Jacket is lightweight, easy to wear, and fairly mobile. We see this as a big advantage towards rehabilitation from neural injuries. However, the prospect for rehabilitation would improve if the jacket could support motions beyond mirroring the contralateral arm.

3. Opinion on the value of the Power Jacket as a rehabilitation tool The PSEC Power Jacket is very well constructed and engineered. However, the device could be made more valuable for rehabilitation if it had a more complex, motivating, adaptive, sensorized, functional training environment.

4. Advice on effective specification for the power jacket Lighter Better low-level control (less delay and drag) Better high-level control (assistance-as-needed and other control modes) More complex motions Palm opened up to maximize tactile contact Connect to virtual reality and computer games Easier to don without assistance Comfortable Enhanced sensory feedback Quantitative monitoring of performance

4. Advice on effective specification for the power jacket (Control and Hardware Details – Dr. Aoyagi) –A comparison test of the SMC Regulators vs. the FESTO servo-valves. –A more objective evaluation of the Equilibrium Position controller. –Devise a better method to specify the amount of co-contraction. –Improve the performance of position control by adding a position sensor on the Power Jacket for real-time adaptation of the pressure-angle mapping and the lead term (to compensate for various loading conditions) and/or a straightforward position feedback. –Redesign the table unit to encourage coordinated movement of the unassisted shoulder in response to the assisted/actuated elbow movement, and also possible application of “bi-articular” (actuators spanning two-joints) concept/design to the Power Jacket. –Usability: Redesign for easier (self-) donning (e.g. the strap arrangement). –Elbow module design: The parts that connect/anchor to the table unit can be simpler and lighter. It would be more effective to lighten toward the extremity (hand) than the proximity (chest). The “slide guide” can be moved to the upper arm side, or could it be omitted? It’s a good idea to use coil spring as a joint; it absorbs misalignments and other irregularities, making the device forgiving and comfortable. Inserting a rotary joint in series with the spring could possibly improve the fit, making it less “springy” and vague. –Wrist module design: The metal bars that connect and support the “flexible grip” can be made lighter or simplified? Use elastic parts/materials instead of the linear guide mechanism? –Electrical design: Can use wireless I/F for the sensors (make them even more wearable)? MOVIES:

5. Determine the interest in UCI in a joint collaboration We all agree the device has substantial potential. Therefore, interest is high if the details are right

6. Possible objectives for next phase collaboration Design an innovative rehabilitation program that incorporates the Jacket Develop multi-skill, multi-level, multi-player games that can be rapidly tailored for individual capabilities. Develop improved control algorithms (e.g. smart assistance) Develop wireless, quantitative monitoring of patient use and progress. Study utility of Power Jacket for sports training (e.g. golf)

Together we could define the future of rehabilitation A Typical Clinic Today

The Panasonic-Irvine Center for the Future of Rehabilitation Expedition Health: Denver Museum of Nature and Science