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Appl. Sci. 2019, 9(4), 626; https://doi.org/10.3390/app9040626

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.
Received: 21 December 2018 / Revised: 1 February 2019 / Accepted: 8 February 2019 / Published: 13 February 2019
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Abstract

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
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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.

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