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Article

A Gravity-Compensated Upper-Limb Exoskeleton for Functional Rehabilitation of the Shoulder Complex

1
Rehab Technologies Lab, Istituto Italiano di Tecnologia, 16163 Genova, Italy
2
INAIL Centro di Riabilitazione Motoria, 56048 Volterra, Italy
*
Author to whom correspondence should be addressed.
Academic Editor: Zimi Sawacha
Appl. Sci. 2022, 12(7), 3364; https://doi.org/10.3390/app12073364
Received: 9 February 2022 / Revised: 18 March 2022 / Accepted: 24 March 2022 / Published: 25 March 2022
In the last decade, several exoskeletons for shoulder rehabilitation have been presented in the literature. Most of these devices focus on the shoulder complex and limit the normal mobility of the rest of the body, forcing the patient into a fixed standing or sitting position. Nevertheless, this severely limits the range of activities that can potentially be simulated during the rehabilitation, preventing the execution of occupational therapy which involves the execution of tasks based on activities of daily living (ADLs). These tasks involve different muscular groups and whole-body movements, such as, e.g., picking up objects from the ground. To enable whole-body functional rehabilitation, the challenge is to shift the paradigm of robotic rehabilitation towards machines that can enable wide workspaces and high mobility. In this perspective, here we present Float: an upper-limb exoskeleton designed to promote and accelerate the motor and functional recovery of the shoulder joint complex following post-traumatic or post-surgical injuries. Indeed, Float allows the patient to move freely in a very large workspace. The key component that enables this is a passive polyarticulated arm which supports the total exoskeleton weight and allows the patient to move freely in space, empowering rehabilitation through a deeper interaction with the surrounding environment. A characterization of the reachable workspace of both the exoskeleton and the polyarticulated passive arm is presented. These results support the conclusion that a patient wearing Float can perform a wide variety of ADLs without bearing its weight. View Full-Text
Keywords: upper limb; shoulder rehabilitation; robotic rehabilitation upper limb; shoulder rehabilitation; robotic rehabilitation
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MDPI and ACS Style

Buccelli, S.; Tessari, F.; Fanin, F.; De Guglielmo, L.; Capitta, G.; Piezzo, C.; Bruschi, A.; Van Son, F.; Scarpetta, S.; Succi, A.; Rossi, P.; Maludrottu, S.; Barresi, G.; Creatini, I.; Taglione, E.; Laffranchi, M.; De Michieli, L. A Gravity-Compensated Upper-Limb Exoskeleton for Functional Rehabilitation of the Shoulder Complex. Appl. Sci. 2022, 12, 3364. https://doi.org/10.3390/app12073364

AMA Style

Buccelli S, Tessari F, Fanin F, De Guglielmo L, Capitta G, Piezzo C, Bruschi A, Van Son F, Scarpetta S, Succi A, Rossi P, Maludrottu S, Barresi G, Creatini I, Taglione E, Laffranchi M, De Michieli L. A Gravity-Compensated Upper-Limb Exoskeleton for Functional Rehabilitation of the Shoulder Complex. Applied Sciences. 2022; 12(7):3364. https://doi.org/10.3390/app12073364

Chicago/Turabian Style

Buccelli, Stefano, Federico Tessari, Fausto Fanin, Luca De Guglielmo, Gianluca Capitta, Chiara Piezzo, Agnese Bruschi, Frank Van Son, Silvia Scarpetta, Antonio Succi, Paolo Rossi, Stefano Maludrottu, Giacinto Barresi, Ilaria Creatini, Elisa Taglione, Matteo Laffranchi, and Lorenzo De Michieli. 2022. "A Gravity-Compensated Upper-Limb Exoskeleton for Functional Rehabilitation of the Shoulder Complex" Applied Sciences 12, no. 7: 3364. https://doi.org/10.3390/app12073364

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