Abstract-- This paper presents LIGHTarm, a highly ergonomic gravity-compensated exoskeleton for the upper-limb neurorehabilitation, characterized by a peculiar kinematic structure, expressly conceived to face shoulder rhythm and elbow singularity issues, achieving high backdrivability throughout a large exploitable range of motion. The designed gravity compensation mechanism guarantees a good limb support for impaired people, facilitating upper-limb spatial movements in rehabilitation therapies.
LIGHTarm: a gravity-compensated exoskeleton for the upper-limb rehabilitation
Giulio Spagnuolo;Matteo Malosio;Joao Carlos Dalberto;Alessandro Scano;Andrea Chiavenna;Marco Caimmi;Lorenzo Molinari Tosatti
2015
Abstract
Abstract-- This paper presents LIGHTarm, a highly ergonomic gravity-compensated exoskeleton for the upper-limb neurorehabilitation, characterized by a peculiar kinematic structure, expressly conceived to face shoulder rhythm and elbow singularity issues, achieving high backdrivability throughout a large exploitable range of motion. The designed gravity compensation mechanism guarantees a good limb support for impaired people, facilitating upper-limb spatial movements in rehabilitation therapies.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
