1. Partners: University Of Illinois at Chicago, Northwestern University, University of California at Irvine, ETH at Zurich, Balgrist Hospital, Zurich, Hocoma Zurich, Illinois Institute of Technology, UNAM, INAOE, INN, Mexico Focus: The development of robotic devices and passive systems to promote restoration of function in stroke survivors PI/co-PIs: W. Z. Rymer (RIC), PI, J. Patton (UIC & RIC), Co-PI, with Project leaders R. Kenyon (UIC), D. Kamper (IIT), D. Brown (Northwestern), M. Peshkin (Northwestern), D. Reinkensmeyer (Cal) Funding: $950k per year total cost Period: starting October 1, 2007 for 5 years MARS-RERC Machines Assisting Recovery from Stroke Rehabiliation Engineering Research Center MARS-RERC Machines Assisting Recovery from Stroke Rehabiliation Engineering Research Center Rehabilitation Robotics & Telemanipulation: Funded by: Hosted at:

2. Focus The development of robotic devices and passive systems to promote restoration of function in stroke survivors

3. Outcome goals Advance the state of knowledge of stroke functional restoration Increase the national capacity for therapeutic robotics research Increase the national capacity for therapeutic robotics training Strengthen the relationships amongst researchers, companies, and associations that facilitate technology transfer and growth of the field

4. Core Facilities Biostatistics - Borko Jovanovic, PhD Administrative Core - Rymer, Patton, Devitt Clinical Core/Registry –Sarah Housman, OT –Richard Harvey, MD –Ross Bogey, DO Evaluation Core – Advisory Board Engineering Cores –Machining –Electronics –Computer IT

5. Sub-Projects D1: Development of new capabilities of the Lokomat Rymer/Riener, PIs D2: Development of hand technology involving reaching Kamper/Kenyon, PIs D3: Development of telerehabilitation arm gravity-assistance Reinkensmeyer/Sucar, PIs R1: Research benefits of using error augmentation Patton/Kenyon, PIs R2; Research benefits of overground walking the KineAssist Brown/Patton, PIs T1: Training initiative on rehab-oriented engineering design Peshkin, PI, Colgate Co-PI

6. D1: Cooperative Control for Robot- Aided Gait Therapy Robert Riener, W. Zev Rymer, and Yasin Dhaher Design and evaluate cooperative control strategies that provide more freedom and participation by the patients, while still guaranteeing functional gait training Transfer the benefits of manual therapy by a human therapist to robotic devices using adaptive, compliant and force supporting action towards the patient legs. Assess the effects of cooperative control strategies using quantitative and qualitative measures of gait performance

7. First Results: Path Controller Path Controller Works for Healthy Subjects see movie!

8. D2: Development of hand technology involving reaching Derek Kamper, Ph.D. Development of an actuated hand orthosis for home use –Fully portable Creation of an integrated rehabilitation environment for hand therapy –Interactive virtual reality Generation of a system for training reach-to- grasp –Collaboration with Drs. Patton and Kenyon (R1)

10. R1: Evaluating Error Augmentation For Neurorehabilitation James Patton, Robert Kenyon, and Derek Kamper, Sarah Housman Aim 1: Therapist-Driven Trajectories –Therapist specifies the trajectory in real-time –Allows therapist to customize approach, focusing on what is critical for a particular patient’s recovery Aim 2: Patient-Driven Trajectories –Allow subject to provide own desired trajectory –Sensor mounted on healthy limb (bimanual training)

11. V irtual R eality R obotics & O ptical O perations M achine

12. R2: OUTCOMES ASSOCIATED WITH PROGRESSIVE BALANCE AND GAIT TRAINING USING THE KineAssist® ROBOT David A. Brown, PT; PhD,James L. Patton, PhD 1,2,3 ; Julio Santos, MS 4 ; Nicole Korda, PT 2 ; William Z. Rymer, MD, PhD 1,2 AIM 1: To compare physiological effort variables when a person undergoes balance and gait training with a KineAssist® versus without a KineAssist®. AIM 2: Using a randomized controlled research design, compare walking outcomes resulting from gait and balance training with standard physical therapist interaction versus training with the addition of a KineAssist®.

14. T1:Training initiative on rehab- oriented engineering design Peshkin, PI, Colgate Co-PI Masters program extension of RRTC concept Innovations in rehabilitation that focus on identification of needs Combines innovation elements from medical, business, and engineering schools

15. Ford Design Center