Publication

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

Shivesh Kumar, Hendrik Wöhrle, Mathias Trampler, Marc Simnofske, Heiner Peters, Martin Mallwitz, Elsa Andrea Kirchner, Frank Kirchner

In: Applied Sciences 9 4 MDPI 2019.

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.

Projekte

Weitere Links

20190214_Modular_Design_and_Decentralized_Control_of_the_RECUPERA_Exoskeleton_for_Stroke_Rehabilitation.pdf (pdf, 55 MB)

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz