Design and Experiments of a Pneumatic Powered Exoskeleton for Rehabilitation and Training

This paper presents the development of an exoskeleton of the upper limbs for training and rehabilitation. The aim is to develop and evaluate an exoskeleton that provides force feedback, transparency and safety. This work examines the structure and actuation of the arm. The proposed design with pneumatic drive allows the therapist to control the transparency and safety at all stages of the rehabilitation process. Simulations and evaluations of the patient-exoskeleton force are performed. The gravity compensation force and the force of elastic properties are evaluated herein. Transparency is assessed in different cases, depending on active or passive control modes. Finally, conclusions are and prospects for future work are given.