1223 53.Rehabilitation and Health Care Robotics H.F.Machiel Van der Loos,David J.Reinkensmeyer The field of rehabilitation robotics develops robotic 53.2 Physical Therapy and Training Robots....1227 systems that assist persons who have a disability 53.2.1 Grand Challenges and Roadblocks..1227 with necessary activities,or that provide therapy 53.2.2 Movement Therapy after Neurologic Injury ..1228 for persons seeking to improve physical or cog- 53.2.3 Robotic Therapy nitive function.This chapter will discuss both of for the Upper Extremity... ..1229 these domains and provide descriptions of the ma- 53.2.4 Robotic Therapy for Walking..........1231 jor achievements of the field over its short history. Specifically,after providing background informa- 53.3 Aids for People with Disabilities. ..1235 tion on world demographics (Sect.53.1.2)and the 53.3.1 Grand Challenges history (Sect.53.1.3)of the field,Sect.53.2 de- and Enabling Technologies.............1235 scribes physical therapy and training robots,and 53.3.2 Types and Examples Sect.53.3 describes robotic aids for people with of Assistive Rehabilitation Robots...1236 disabilities.Section 53.4 then briefly discusses re- cent advances in smart prostheses and orthoses 53.4 Smart Prostheses and Orthoses..............1240 that are related to rehabilitation robotics.Finally, 53.4.1 Grand Challenges and Roadblocks..1240 53.4.2 Targeted Reinnervation.................1240 Sect.53.5 provides an overview of recent work in 53.4.3 Brain-Machine Interfaces diagnosis and monitoring for rehabilitation as well .1241 53.4.4Advances in Neural Stimulation.....1241 as other health-care issues.At the conclusion of 53.4.5 Embedded Intelligence.................1242 this chapter,the reader will be familiar with the history of rehabilitation robotics and its primary 53.5 Augmentation for Diagnosis accomplishments,and will understand the chal- and Monitoring........ ..1242 lenges the field faces in the future as it seeks to 53.5.1 Introduction:Grand Challenges improve health care and the well-being of persons and Enabling Technologies............1242 with disabilities.In this chapter,we will describe 53.5.2 Smart Clinics with Automated an application of robotics that may in the future Health Care Monitoring and Care....1243 touch many of us in an acutely personal way. 53.5.3 Home-Based Rehabilitation Monitoring Systems..1243 53.10 verview....1223 53.5.4Wearable Monitoring Devices.........1244 53.1.1 Taxonomy 53.6 Safety,Ethics,Access,and Economics.....1244 of Rehabilitation Robotics...........1224 53.1.2 World Demographics..................1224 53.7 Conclusions and Further Readings..........1245 53.1.3 Short History of the Field of Rehabilitation Robotics .1225 References..… .1246 53.1 Overview When we become unable to interact physically with when one of our family members,friends or neighbors our immediate environment as we desire in order to is in this situation,we seek technology-based solutions achieve our personal goals through injury or disease,or to assist us in relearning how to complete our activi-1223 Rehabilitatio 53. Rehabilitation and Health Care Robotics H.F. Machiel Van der Loos, David J. Reinkensmeyer The field of rehabilitation robotics develops robotic systems that assist persons who have a disability with necessary activities, or that provide therapy for persons seeking to improve physical or cog￾nitive function. This chapter will discuss both of these domains and provide descriptions of the ma￾jor achievements of the field over its short history. Specifically, after providing background informa￾tion on world demographics (Sect. 53.1.2) and the history (Sect. 53.1.3) of the field, Sect. 53.2 de￾scribes physical therapy and training robots, and Sect. 53.3 describes robotic aids for people with disabilities. Section 53.4 then briefly discusses re￾cent advances in smart prostheses and orthoses that are related to rehabilitation robotics. Finally, Sect. 53.5 provides an overview of recent work in diagnosis and monitoring for rehabilitation as well as other health-care issues. At the conclusion of this chapter, the reader will be familiar with the history of rehabilitation robotics and its primary accomplishments, and will understand the chal￾lenges the field faces in the future as it seeks to improve health care and the well-being of persons with disabilities. In this chapter, we will describe an application of robotics that may in the future touch many of us in an acutely personal way. 53.1 Overview.............................................. 1223 53.1.1 Taxonomy of Rehabilitation Robotics ............. 1224 53.1.2 World Demographics..................... 1224 53.1.3 Short History of the Field of Rehabilitation Robotics ............. 1225 53.2 Physical Therapy and Training Robots .... 1227 53.2.1 Grand Challenges and Roadblocks .. 1227 53.2.2 Movement Therapy after Neurologic Injury .................. 1228 53.2.3 Robotic Therapy for the Upper Extremity................. 1229 53.2.4 Robotic Therapy for Walking .......... 1231 53.3 Aids for People with Disabilities............. 1235 53.3.1 Grand Challenges and Enabling Technologies ............ 1235 53.3.2 Types and Examples of Assistive Rehabilitation Robots... 1236 53.4 Smart Prostheses and Orthoses .............. 1240 53.4.1 Grand Challenges and Roadblocks .. 1240 53.4.2 Targeted Reinnervation................. 1240 53.4.3 Brain–Machine Interfaces ............. 1241 53.4.4Advances in Neural Stimulation ..... 1241 53.4.5Embedded Intelligence ................. 1242 53.5 Augmentation for Diagnosis and Monitoring .................................... 1242 53.5.1 Introduction: Grand Challenges and Enabling Technologies ............ 1242 53.5.2 Smart Clinics with Automated Health Care Monitoring and Care.... 1243 53.5.3 Home-Based Rehabilitation Monitoring Systems ...................... 1243 53.5.4Wearable Monitoring Devices......... 1244 53.6 Safety, Ethics, Access, and Economics ..... 1244 53.7 Conclusions and Further Readings.......... 1245 References .................................................. 1246 53.1 Overview When we become unable to interact physically with our immediate environment as we desire in order to achieve our personal goals through injury or disease, or when one of our family members, friends or neighbors is in this situation, we seek technology-based solutions to assist us in relearning how to complete our activi￾Part F 53