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Volume 25
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10.3390/s25133984
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Development and Efficacy Assessment of an Angle Sensor-Integrated Upper Limb Exoskeleton System for Autonomous Rehabilitation Training

by
Linshuai Zhang
1,2,3,†,
Xin Tian
1,†,
Yaqi Fan
1,
Tao Jiang
1,3,*,
Shuoxin Gu
2,4 and
Lin Xu
1,3
1
School of Intelligent Medicine, Chengdu University of Traditional Chinese Medicine, Chengdu 611137, China
2
School of Automation, Chengdu University of Information Technology, Chengdu 610225, China
3
Engineering Research Center for Artificial Intelligence in Traditional Chinese Medicine, Chengdu 611137, China
4
International Joint Research Center of Robotics and Intelligence System, Chengdu University of Information Technology, Chengdu 610225, China
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Sensors 2025, 25(13), 3984; https://doi.org/10.3390/s25133984
Submission received: 26 May 2025 / Revised: 22 June 2025 / Accepted: 24 June 2025 / Published: 26 June 2025
(This article belongs to the Special Issue Design and Integration of Sensors for Control, Planning and Deployment in Robotic Systems)
Versions Notes

Abstract

In this study, we propose a rehabilitation training system that incorporates active and passive rehabilitation modes to enhance the convenience, efficacy, and safety of rehabilitation training for patients with upper limb hemiplegia. This system facilitates elbow flexion and extension as well as wrist and palm flexion and extension. The experimental results demonstrate that the exoskeleton robot on the affected limb exhibits a rapid response and maintains a highly synchronized movement with the unaffected upper limb equipped with an angle sensor, preserving stability and coordination throughout the movement process without significant delay affecting the overall motion. When the movement of the unaffected upper limb exceeds the predetermined angle threshold, the affected limb promptly initiates a protective mechanism to maintain its current posture. Upon equalization of the angles between the two limbs, the affected limb resumes synchronized movement, thereby ensuring the safety of the rehabilitation training. This research provides some insights into the functional improvements of safe and reliable upper limb exoskeleton rehabilitation training systems.
Keywords: upper limb exoskeleton; angle sensor; self-rehabilitation training; four degrees of freedom upper limb exoskeleton; angle sensor; self-rehabilitation training; four degrees of freedom

Share and Cite

MDPI and ACS Style

Zhang, L.; Tian, X.; Fan, Y.; Jiang, T.; Gu, S.; Xu, L. Development and Efficacy Assessment of an Angle Sensor-Integrated Upper Limb Exoskeleton System for Autonomous Rehabilitation Training. Sensors 2025, 25, 3984. https://doi.org/10.3390/s25133984

AMA Style

Zhang L, Tian X, Fan Y, Jiang T, Gu S, Xu L. Development and Efficacy Assessment of an Angle Sensor-Integrated Upper Limb Exoskeleton System for Autonomous Rehabilitation Training. Sensors. 2025; 25(13):3984. https://doi.org/10.3390/s25133984

Chicago/Turabian Style

Zhang, Linshuai, Xin Tian, Yaqi Fan, Tao Jiang, Shuoxin Gu, and Lin Xu. 2025. "Development and Efficacy Assessment of an Angle Sensor-Integrated Upper Limb Exoskeleton System for Autonomous Rehabilitation Training" Sensors 25, no. 13: 3984. https://doi.org/10.3390/s25133984

APA Style

Zhang, L., Tian, X., Fan, Y., Jiang, T., Gu, S., & Xu, L. (2025). Development and Efficacy Assessment of an Angle Sensor-Integrated Upper Limb Exoskeleton System for Autonomous Rehabilitation Training. Sensors, 25(13), 3984. https://doi.org/10.3390/s25133984

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