NJIT-RAVR system for hand practice in CP and stroke

The NJIT-RAVR system utilizes the Haptic Master® (Moog, The Netherlands) a 6 degree of freedom forcecontrolled robot combined with a ring gimbal.



Simulations:
a) The Bubble Explosion simulation the speed and accuracy of shoulder and elbow movements during a series of reaching movements in a 3D work-space. Stereoscopic glasses are used to enhance depth perception, which produces more normal upper extremity trajectories and increases the sense of immersion.
b) Cup Reach - the screen displays a three-dimensional room with a haptically rendered table and set of shelves. The shelves are at three different levels in height. The simulation utilizes a calibration protocol that allows the height, width and distance to the shelves to be adjusted to accommodate the movement abilities of the subject. Individual virtual cups with a handle will appear on the table, and a red square indicating where the cup is to be placed is displayed.
c) FallingObjects - aims to improve upper extremity reaching towards a moving object. Subjects are presented with targets falling from six points across the top of the screen, three on each side of their midline. The subjects move their hand as quickly as possible from midline to the target, trying to catch it as quickly and high on the screen as possible. Feedback related to the speed of each catch, the total number of successful catches and the height of each successful catch is presented.

d) HammerHM simulation focuses on improving forearm rotation. During training, a target (vertically oriented wooden rod) appears in the middle of the screen. The subject reaches the target peg and uses repetitive forearm rotation movements to swing a virtual hammer, driving the target into the ground.
e) Spaceship - focuses on improving the speed & accuracy of frontal plane shoulder & elbow movements. The subject moves a virtual space-ship through a representation of a human blood vessel. Objects within the blood vessel represent obstacles or targets. Game speed, global forces, work space, and target/obstacle density can be adjusted to accommodate sensory and cognitive processing.