reachMAN2: A compact rehabilitation robot to train reaching and manipulation

This paper describes the reachMAN2, a rehabilitation robot with minimum degrees-of-freedom to train arm reaching and manipulation for typical ADLs, providing assistance in arm flexion/extension, forearm supination/pronation and hand opening/closing. The design, safety, control and performance evaluation of the system are presented. A handle using an innovative cam mechanism enables natural hand opening/closing movements. The interaction force between the device and the subject is measured via four force sensors located on the handle of the device. A preliminary study with healthy subjects was performed to assess the performances of the device.