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Rehabilitation robotic devices have been actively explored for training patients with impaired neural functions or assisting those with weak limbs due to aging or diseases. In recent years, the authors have proposed light-weight exoskeleton designs for the upper arm, in which rigid links of the exoskeleton are replaced by lightweight cuffs attached to the moving limb segments of the human arm. Cables,...
Rehabilitation robots are, currently, being explored for training of neural impaired subjects or for assistance of those with weak limbs. Intensive training of neurally impaired subjects, with quantifiable outcomes, is the eventual goal of these robot exoskeletons. Conventional arm exoskeletons for rehabilitation are bulky and heavy. In recent years, the authors have proposed to make lightweight exoskeletons...
Conventional robotic rehabilitation devices for upper extremity are bulky, heavy or lack the ability to provide joint level rehabilitation. Some designs address these issues by replacing rigid links of the exoskeletons with light weight cables. However these designs are controlled in position mode instead of force control which is desirable for rehabilitation. In this paper, a 5 degree-of-freedom...
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