Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

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 upp...

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Bibliographic Details
Published in:Applied sciences 2019-02, Vol.9 (4), p.626
Main Authors: Kumar, Shivesh, Wöhrle, Hendrik, Trampler, Mathias, Simnofske, Marc, Peters, Heiner, Mallwitz, Martin, Kirchner, Elsa, Kirchner, Frank
Format: Article
Language:English
Subjects:
Decentralized control
Degrees of freedom
Demographics
Design
Elbow
Exoskeleton
Exoskeletons
mechanical design
Mobility
Modular design
Patients
prosthetics and exoskeletons
Rehabilitation
rehabilitation robotics
Stroke
Systems design
Therapeutic applications
Therapists
Therapy
Wheelchairs
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Summary: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.
ISSN:2076-3417
2076-3417
DOI:10.3390/app9040626