A Portable 3D Printed 2DOF Arm Exoskeleton for Rehabilitation

摘要

Traditional rehabilitation treatments for stroke patients are often limited in their scope; the location, availability and capacity of a physiotherapist in addition to methods of quantifying treatment effectiveness may all be restricting factors yet are also crucial in providing a successful therapy to patients. Rehabilitation robotics is an evolving field with the potential to increase therapeutic effectiveness. We thus have developed a portable robotic arm orthosis (RAO) capable of actuating a user’s arm in 2 Degrees of Freedom (2DOF), namely elbow flexion and extension and forearm pronation and supination. The exoskeleton is fabricated from lightweight materials, 3D printed ABS and carbon fibre, and is battery operated. Motion sensors incorporated in the RAO allow movement control and analyses. The paper will review the mechanical properties and performance of the device. Several tests are performed to confirm the design parameters are met. Finally we suggest treatment alternatives as well as future orthoses advancements.