In this article the design of a new upper limb rehabilitation system will be presented. A lightweight, modular, and portable system is achieved by the combination of electromyographic (EMG) control, functional electrical stimulation (FES), and the use of miniaturized flexible fluidic actuators (FFA) integrated in an elbow orthosis. First, the state of the art of upper limb rehabilitation devices will be discussed and requirements extracted. Then, the design concept of the new prototype upper limb training system will be presented. Subsequently, a miniaturized fluidically driven actuation system, including its mechatronical components, will be highlighted. Finally, an overview of the performance and function will be given.

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