A novel variable stiffness actuator-based exoskeleton device for home rehabilitation

Most exoskeleton devices for upper-limb rehabilitation are heavy and bulky. The present study develops a light and wearable exoskeleton device for passive and resistance training that can potentially be used in home rehabilitation. Stroke patients may prefer to rehabilitate at home considering the inconvenience of regularly attending rehabilitation centres. In this paper, a novel training device combined with a variable stiffness actuator (VSA) is developed with safe-consideration. First, compared with traditional actuators with very high mechanical impedance, actuators with adaptive compliances can guarantee patients' safety, especially spasm happen. Second, it is composed of 4 degrees of freedom to move and 2 others degrees to adjust to the patient. Moreover it allows you to put the weight of the system on shoulders because this device can be wear just like a bag, so the patients can create a fully portable device, and very low cost. The processed EMG signals can be used to verify that the rehabilitation device could provide the power assist to the patients.