A modular sensorized handle for the training of functional tasks with planar neurorehabilitation setups

In the past few years, rehabilitation technology has been one of the emerging fields in the robotics area. H-Man, a 2D planar robot, was developed for upper extremities neurorehabilitation. The current design allows elbow and shoulder motor function recovery. To further expand its use to distal components of upper limb physiotherapy, a modular end-effector capable of measuring grip force and vertical displacement is developed to be implemented on the manipulandum. The grip force measurement yields results with less than 1N (3%) mean error and 0.6N (2%) standard deviation, demonstrating the feasibility of the end effector.