Robotic Exoskeleton for Upper Arm Stroke Rehabilitation

Upper limb impairment is a common challenge for individuals who have suffered a stroke, particularly affecting distal joint mobility. In recent years, advancements in mobility aids, such as exoskeletons, have shown promise in improving motor skills for those with compromised mobility. In this study, we present the design and implementation of an upper limb exoskeleton capable of both Active Range of Motion (AROM) and Passive Range of Motion (PROM) modes. Additionally, the exoskeleton integrates automatic threshold detection for EMG signals, allowing for seamless interaction and assistance based on user muscle activation. By combining AROM and PROM modes with EMG signal threshold detection, our exoskeleton offers a versatile and responsive solution for individuals seeking to improve upper limb mobility following stroke or other health-related challenges.