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Robotic exoskeletons can apply forces distributed on the limbs of the subject they are connected to. This offers a great potential in the field of neurorehabilitation, to address the impairment of interjoint coordination in hemiparetic stroke patients. In these patients, the normal flexible joint rotation synergies are replaced by pathological fixed patterns of rotation. In this paper, we investigate how the concept of synergy can be exploited in the control of an upper limb exoskeleton. The long term goal is to develop a device capable of changing the joint synchronization of a patient performing exercises during rehabilitation.

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Strength rehabilitation is an essential treatment for the patient who has motor control disorder. However the strength rehabilitation process is a labor intensive work therefore many people have found a solution in robotics. Many studies propose various strength rehabilitation robots and control methods. It is well known that the high muscle activation during the rehabilitation process can accelerate the progress of the recovery. However there is little quantitative study about the relationship between the control parameters and the muscle activation. This paper shows how the control parameters affect the muscle activation. We use three control methods; isokinetic, isotonic and shared control, widely used control method in rehabilitation robots. With this result, we suggest a method to adjust the exercise intensity.

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The neurorehabilitation robotics is a promising research field that allows improvements of the therapy effects. Some interesting systems for the neurorehabilitation of the upper limb are based on standard robotic arms and their applicability and effectiveness are based on the presence of patient’s residual motor control synergy. On the other side, the exoskeletons overcome the single joint control allowing the full control of the arm kinematics. This paper presents the first results obtained at ARTS lab for the development of an exoskeleton for upper limb, starting from one of its building block that is a stand-alone active orthesis for functional assessment of the human wrist. We are addressing the design with a biomechatronic approach, based on an extensive analysis of the state-of-the-art. The design rules of sensorized wrist orthesis for functional assessment of the wrist and its first prototype are presented.

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