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This paper presents a novel 7 (active) +2 (passive) degrees of freedom (DOF) exoskeleton to achieve effective rehabilitation of upper limbs with neurological impairment. The 7+2 DOF robot was designed for allowing anatomically correct motions in the upper extremity, and for measuring 18 axis forces/torques and 9 DOF positions. A novel four-step integrated rehabilitation approach was developed and...
Spastic hypertonia involving spasticity and/or contracture is a major source of disability in cerebral palsy and other neurological impairments like stroke. Several measures have been used to assess the reflex hyperexcitability and hypertonus associated with spasticity, including the Ashworth scale, tendon reflex scale, pendulum test, mechanical perturbations and passive joint ROM. These measures...
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