Robot-assisted therapy has become increasingly popular and useful in post-stroke neurorehabilitation. This paper presents an overview of the design and control of the dual-arm Recupera exoskeleton to provide intense therapist-guided as well as self training for sensorimotor rehabilitation of the upper body. The exoskeleton features a lightweight design, high level of modularity, decentralized computing, and various levels of safety implementation. Due to its modularity, the system can be used as a wheel-chair mounted system or as a full-body system. Both systems enable a wide range of therapies while efficiently grounding the weight of the system and without compromising the patient’s mobility. Furthermore, two rehabilitation therapies implemented on the exoskeleton system, namely teach & replay therapy and mirror therapy, are presented along with experimental results.
@article{pub10231,
author = {
Kumar, Shivesh
and
Wöhrle, Hendrik
and
Trampler, Mathias
and
Simnofske, Marc
and
Peters, Heiner
and
Mallwitz, Martin
and
Kirchner, Elsa Andrea
and
Kirchner, Frank
},
title = {Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation},
year = {2019},
month = {2},
volume = {9},
number = {4},
pages = {626},
journal = {Applied Sciences},
publisher = {MDPI}
}
German Research Center for Artificial Intelligence Deutsches Forschungszentrum für Künstliche Intelligenz
