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Updated: Jul 17, 2026

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
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RUPERT: a Device for Robotic Upper Extremity Repetitive Therapy.

Jiping He1, E J Koeneman, R Schultz

  • 1Harrington Department of Bioengineering and Center for Neural Interface Design at the Biodesign Institute, Arizona State University, Tempe, AZ, USA.

Conference Proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
|February 7, 2007
PubMed
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We developed RUPERT, a low-cost, wearable robotic device for upper extremity physical therapy after stroke. This system offers quantitative assessment and aims to make intensive rehabilitation more accessible and effective for patients.

Area of Science:

  • Rehabilitation Engineering
  • Robotics in Medicine
  • Neurorehabilitation

Background:

  • Intensive upper extremity physical therapy is crucial for stroke recovery but is often costly and difficult to quantify.
  • There is a growing need for accessible, safe, and cost-effective robotic solutions to aid stroke rehabilitation.
  • Current methods lack objective, quantitative evaluation of patient progress.

Purpose of the Study:

  • To develop and evaluate a novel robotic device for assisted upper extremity repetitive therapy (RUPERT).
  • To create a low-cost, wearable system to supplement traditional stroke rehabilitation.
  • To enable objective, quantitative assessment of functional improvement during therapy.

Main Methods:

  • Designed a pneumatic muscle (PM)-driven, wearable robotic device (RUPERT) with four degrees of freedom (shoulder, elbow, wrist).

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  • Integrated sensors for real-time feedback of position and force during task performance.
  • Evaluated the device's capability to assist arm movement for daily living tasks.

    • Main Results:

    • The RUPERT device was successfully developed and demonstrated feasibility for assistive therapy.
    • The system provides quantitative data on task performance and functional improvement.
    • The wearable design allows for potential take-home use to supplement clinical therapy.

    Conclusions:

    • RUPERT offers a promising, cost-effective solution for enhancing upper extremity rehabilitation in stroke survivors.
    • The device facilitates objective assessment, potentially improving therapy outcomes.
    • This robotic system can increase the accessibility and intensity of repetitive task-based physical therapy.