Next Article in Journal
Test Study on the Stress and Deformation Behaviors of a Shaft Supported by a Prefabricated Prestressed Structure
Next Article in Special Issue
Prototype of an Ankle Neurorehabilitation System with Heuristic BCI Using Simplified Fuzzy Reasoning
Previous Article in Journal
Cellular Spheroids of Mesenchymal Stem Cells and Their Perspectives in Future Healthcare
Open AccessArticle

Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

1
Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), 28359 Bremen, Germany
2
AG Robotik, Department of Mathematics and Computer Science, University of Bremen, 28359 Bremen, Germany
*
Authors to whom correspondence should be addressed.
The two authors contribute equally to the work.
Appl. Sci. 2019, 9(4), 626; https://doi.org/10.3390/app9040626
Received: 21 December 2018 / Revised: 1 February 2019 / Accepted: 8 February 2019 / Published: 13 February 2019
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. View Full-Text
Keywords: prosthetics and exoskeletons; rehabilitation robotics; mechanical design prosthetics and exoskeletons; rehabilitation robotics; mechanical design
Show Figures

Figure 1

MDPI and ACS Style

Kumar, S.; Wöhrle, H.; Trampler, M.; Simnofske, M.; Peters, H.; Mallwitz, M.; Kirchner, E.A.; Kirchner, F. Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation. Appl. Sci. 2019, 9, 626.

Show more citation formats Show less citations formats
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop