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Volume 9
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Article

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

by
Shivesh Kumar
1,*,†,
Hendrik Wöhrle
1,*,†,
Mathias Trampler
1,
Marc Simnofske
1,
Heiner Peters
1,
Martin Mallwitz
1,
Elsa Andrea Kirchner
1,2 and
Frank Kirchner
1,2
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
Submission received: 21 December 2018 / Revised: 1 February 2019 / Accepted: 8 February 2019 / Published: 13 February 2019
(This article belongs to the Special Issue Rehabilitation Robotics: Recent Advancements and New Perspectives about Training and Assessment of Sensorimotor Functions)
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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.
Keywords: prosthetics and exoskeletons; rehabilitation robotics; mechanical design prosthetics and exoskeletons; rehabilitation robotics; mechanical design

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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. https://doi.org/10.3390/app9040626

AMA Style

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. https://doi.org/10.3390/app9040626

Chicago/Turabian Style

Kumar, Shivesh, Hendrik Wöhrle, Mathias Trampler, Marc Simnofske, Heiner Peters, Martin Mallwitz, Elsa Andrea Kirchner, and Frank Kirchner. 2019. "Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation" Applied Sciences 9, no. 4: 626. https://doi.org/10.3390/app9040626

APA Style

Kumar, S., Wöhrle, H., Trampler, M., Simnofske, M., Peters, H., Mallwitz, M., Kirchner, E. A., & Kirchner, F. (2019). Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation. Applied Sciences, 9(4), 626. https://doi.org/10.3390/app9040626

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