Development of an Arm Exoskeleton for Interactive and Challenge - Based Motor Rehabilitation of Upper Limb Function

Robotic exoskeletons offer precise rehabilitation for stroke survivors, enhancing recovery through accurate assessments. This study develops an arm exoskeleton with an integrated unity based interactive virtual environment for rehabilitative purpose. Objectives include constructing the exoskeleton, creating therapeutic challenges, and implementing adaptive difficulty scaling. The system uses force-sensing resistors, a potentiometer, a NEMA17 motor, and an A4988 driver, with MATLAB processing data and controlling responses. Parameter estimation (M = 0.0257, C = 0.5078) validated through numerical integration with the Runge- Kutta method was used to compare the actual from expected angular velocity and position with slight discrepancies at the start and at the end of its testing duration. An adaptive auto-difficulty scaling mechanism, inspired by Metzger's approach, adjusts challenge levels based on user performance, ensuring optimal engagement and therapeutic benefit. This integrated approach, combining robust mechanical design with advanced control algorithms and immersive virtual environment, alongside the synthesis of ideas from both Chowdhury and Metzger underscores the goals of this study with a rehabilitative setting in mind.