Mechatronical design and analysis of a modular developed exoskeleton for rehabilitation purposes

摘要

Recupera is a novel exoskeleton robot designed for therapy and rehabilitation purposes. The project is primarily aimed at aiding patients suffering post-stroke consequences providing means for daily therapy and exercises. Developing such a system brings many design challenges, which can be tackled through introducing modularity, based on knowledge base design into the system. In this paper we focus on the description of the electrical modularity and the analysis of the electrical performance during impedance control experiments with the upper body.