An approach to simulate robot-arm interactions in upper-extremity exoskeletons

摘要

Robotic exoskeletons can be effective tools for providing repetitive and high dose rehabilitation therapy. However, currently there is a lack of techniques to design therapy systematically using the myriad of subject-specific experimental data that is available from these devices. We envision an objective and systematic approach that combines experimental data with computational simulations for designing robot-assisted rehabilitation therapies. To this end, we present a methodology for estimating joint moments in the arm during upper extremity robotic training using a computational model of the coupled arm-exoskeleton system.