Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation
AbstractRobot-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
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Description: Recupera-Reha: operating principle and usage of the Recupera-Reha subsystem
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Description: Recupera-Reha: Therapeutic application example of the subsystem
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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.
Kumar S, Wöhrle H, Trampler M, Simnofske M, Peters H, Mallwitz M, Kirchner EA, Kirchner F. Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation. Applied Sciences. 2019; 9(4):626.Chicago/Turabian Style
Kumar, Shivesh; Wöhrle, Hendrik; Trampler, Mathias; Simnofske, Marc; Peters, Heiner; Mallwitz, Martin; Kirchner, Elsa A.; Kirchner, Frank. 2019. "Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation." Appl. Sci. 9, no. 4: 626.
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