A key approach for reducing motor impairment and regaining independence after stroke is frequent and repetitive functional training. A number of robotic devices have been developed to assist therapists with the labourious task of providing treatment. Although robotic technology is showing significant potential, its effectiveness for upper limb rehabilitation is limited in part by the inability to make functional reaching movements. A major contributor to this problem is that current robots do not replicate motion of the shoulder girdle despite the fact that the shoulder girdle plays a critical role in stabilizing and orienting the upper limb during activities of daily living. To address this issue, a new adjustable robotic exoskeleton called MEDARM is proposed for motor rehabilitation of the shoulder complex. MEDARM provides independent control of six degrees of freedom (DOF) of the upper limb: two at the sternoclavicular joint, three at the glenohumeral joint and one at the elbow. Its joint axes are optimally arranged to mimic the natural upper- limb workspace while avoiding singular configurations and while maximizing manipulability. This mechanism also permits reduction to planar shoulder/elbow motion in any plane by locking all but the last two joints. Electric motors actuate the joint using a combination of cable and belt transmissions designed to maximize the power-to-weight ratio of the robot while maintaining backdriveability and minimizing inertia. Thus, the robot can provide any level of movement assistance and gravity compensation. This paper describes the proposed technical design for MEDARM.

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