Applied Sciences (Feb 2019)

Modular Design and Decentralized Control of the <span style="font-variant: small-caps">Recupera</span> Exoskeleton for Stroke Rehabilitation

  • Shivesh Kumar,
  • Hendrik Wöhrle,
  • Mathias Trampler,
  • Marc Simnofske,
  • Heiner Peters,
  • Martin Mallwitz,
  • Elsa Andrea Kirchner,
  • Frank Kirchner

DOI
https://doi.org/10.3390/app9040626
Journal volume & issue
Vol. 9, no. 4
p. 626

Abstract

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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.

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