Published Nov 20, 2014


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Mauricio Torres-Quezada

Roberto Sagaró-Zamora

Leonardo Broche-Vázquez

Denis Delisle-Rodríguez

Alberto Lopez-Delis



Background: Robot-assisted therapy or exoskeleton is anactive mechanical device that can be easily adjusted to fita different patient limb length, and is able to coordinateand amplify movements. The aim of this study focuses ondeveloping a robotic training system and quantificationmethods for upper limbs rehabilitation in clinic environmentsto be used in survivor stroke patients with motordisorders or loss of physical strength on one side of thebody. Methods: From an integrated approach, a design ofone exoskeleton is presented which allows patients performcomplex movements in four degrees of freedom (DOF)rehabilitation system. The system is controlled by means ofuser interface developed with Lab view v8.6 software thatsupports control and user interaction with the exoskeleton;so it’s possible for therapist to modify the patient routineincluding new movements and a number of repetitions inarticulating joints of shoulder, elbow and wrist. On otherhand system permits bio-feedback of electromyogrampatient activity during rehabilitation sessions. Results:Biomechanical analyses and structure design, implementationof power systems, the development of the controlsystem and user interface as well as its integration withthe mechanical system is presented. Conclusions: A robotarm exoskeleton device with four DOF; able to developcomplex, accurate and repetitive therapeutic routines forarticulating joints of shoulder, elbow and wrist trough aninterface is shown. The device permits to follow chronologicallypatient outcomes recording the electromyogramactivity during rehabilitation progress.


biomecánica, exoesqueleto, señal electromiográficabiomechanics, exoskeleton, electromyographic signal

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How to Cite
Torres-Quezada, M., Sagaró-Zamora, R., Broche-Vázquez, L., Delisle-Rodríguez, D., & Lopez-Delis, A. (2014). Robotic training system for upper limb rehabilitation. Ingenieria Y Universidad, 18(2), 235 - 252.