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A Portable Elbow Exoskeleton for Three Stages of Rehabilitation.

Manna, S.K. and Dubey, V. N., 2019. A Portable Elbow Exoskeleton for Three Stages of Rehabilitation. Journal of Mechanisms and Robotics, 11 (6), 065002.

Full text available as:

JMR-18-1257_Final.pdf - Accepted Version
Available under License Creative Commons Attribution.


DOI: 10.1115/1.4044535


Patients suffering from stroke need to undergo a standard and intensive rehabilitation therapy. The rehabilitation training consists of three sequential stages: the first stage is controlled joint movement under external actuator, the second stage deals with supporting the movements by providing assistive force, and the last stage provides variety and difficulty to exercises. Most of the exoskeletons developed so far for rehabilitation are restricted to a particular type of activity. Although a few exoskeletons incorporate different modes of rehabilitation, those are software controlled requiring sensory data acquisition and complex control architecture. To bridge this gap, a portable elbow exoskeleton has been developed for delivering three stages of rehabilitation in a single structure without affecting the range of motion and safety features. Use of electric motor and springs have been arranged in the actuation mechanism to minimize the energy consumption. The developed exoskeleton enhances torque to weight ratio compared to existing models, and all the three modes of rehabilitation have been controlled using a single motor.

Item Type:Article
Uncontrolled Keywords:mechanism design; wearable robots; exoskeleton; rehabilitation; stroke
Group:Faculty of Science & Technology
ID Code:33343
Deposited By: Symplectic RT2
Deposited On:03 Feb 2020 14:23
Last Modified:14 Mar 2022 14:19


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