Design and Implementation of A Novel Upper Limb Exoskeleton for Mirror Therapy

Coupled bilateral coordination training can play a positive role in the rehabilitation of patients with disabilities caused by stroke or other neurological injuries. This training method involves the simultaneous use and coordination of both upper limbs to perform specific tasks, promoting changes in neuroplasticity. In this work, a bilateral upper limb exoskeleton robot for mirror therapy rehabilitation has been designed, and a prototype has been produced. The kinematics of this exoskeleton robot are also detailed within this paper. Experi-mental verification confirmed that the workspace of the upper limb exoskeleton robot meets the requirements for mirrored movements.