Cleverarm: A Novel Exoskeleton For Rehabilitation Of Upper Limb Impairments

TL;DR

CLEVERarm is a lightweight, ergonomic exoskeleton designed for upper limb rehabilitation, integrating virtual and augmented reality to support shoulder, elbow, and wrist movements with a novel control architecture.

Contribution

The paper introduces CLEVERarm, a new exoskeleton with a unique design and control system for effective upper limb rehabilitation.

Findings

Supports complex shoulder and elbow motions

Integrates VR and AR for enhanced therapy

Features a lightweight and ergonomic design

Abstract

CLEVERarm (Compact, Low-weight, Ergonomic, Virtual and Augmented Reality Enhanced Rehabilitation arm) is a novel exoskeleton with eight degrees of freedom supporting the motion of shoulder girdle, glenohumeral joint, elbow and wrist. Of the eight degrees of freedom of the exoskeleton, six are active and the two degrees of freedom supporting the motion of wrist are passive. This paper briefly outlines the design of CLEVERarm and its control architectures.