Graduation Year


Document Type




Degree Granting Department

Biomedical Engineering

Major Professor

Rajiv V. Dubey, Ph.D.


Spring force, Haptic, Fitts' Task, Scaling, Repetitive motion, Phantom


The primary objective of this research was the design of an easy to use C++ Graphical User Interface (GUI) which helps the user to choose the task that he/she wants to perform. This C++ application provides a platform intended for upper arm rehabilitation applications. The user can choose from different tasks such as: Assistive Function in 3D Space to Traverse a Linear Trajectory, User Controlled Velocity Based Scaling, Fitts' Task in X, Y, Z Directions. According to a study conducted by the scientific journal of the American Academy of Neurology, stroke patients aided by robotic rehabilitation devices gain significant improvement in movement. They also indicate that both initial and long term recovery are greater for patients assisted by robots during rehabilitation. This research aims to provide a haptic interface C++ platform for clinicians and therapists to study human arm motion and also to provide assistance to the user.

The user would get to choose andperform repetitive tasks aimed at improving his/her muscle memory. About eight healthy volunteers were chosen to perform a set of preliminary experiments on this haptic integrated C++ platform. These experiments were performed to get an indication of the effectiveness of the assistance functions provided in this C++ application. The eight volunteers performed the Fitts' Task in X, Y and Z directions. The subjects were divided into two groups, where one of the groups was given training without assistance and the other was given training with assistance. The execution time for both the groups was compared and analyzed. The experiments performed were preliminary, however some trends were observed: the people who received training with assistive force feedback took less execution time compared to those who were given training without any assistance. The path following error was also analyzed.

These preliminary tests were performed to demonstrate the haptic platform's use as a therapeutic assessment application, a rehabilitation tool and a data collection system for clinicians and researchers.