Our recent work in robotic rehabilitation has focused on modernization of the hardware and graphical user interface of the MAHI Exo-II, an upper extremity exoskeleton for rehabilitation of stroke and spinal cord injury patients. These improvements include the implementation of hard stops and redundant soft stops to increase safety, the elimination of pinch points to increase comfort, and the compartmentalizing of advanced low-level controllers at each actuator to increase the closed-loop control rate. A streamlined user interface and engaging graphical games will be demonstrated. These two improvements alone increase the usability for the clinician and help to keep the patient actively engaged during the therapy session. We will demonstrate the assistive and resistive haptic feedback provided by the MAHI Exo-II hardware for rehabilitation applications. Additionally, a new “assist-as-needed” adaptive controller will be demonstrated, and the architecture for a brain-machine interface will be presented.
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