Functional Design of a Powered Elbow Orthosis Toward its Clinical Employment

摘要: This paper presents the design and preliminary evaluation of a novel version robotic elbow exoskeleton NEUROExos, designed for in-clinic treatment stroke survivors in acute subacute phases. The implements series elastic actuation system, 4-degree-of-freedom (DoFs) passive mechanism anatomical axis alignment, one active DoF with remote cable-driven actuation. low-level control system allows two working modalities: torque joint position control. high-level employs finite-state machine that setting execution these modalities during rehabilitation exercises. Preliminary pilot tests based on exercises, three chronic post-stroke patients, demonstrated effectiveness proposed approach assessing rigidity its usability within clinic.