Project report can be found here:
Traditional physical therapy for upper-limb impaired post-stroke patients does not involve the use of robotic equipment with the ability to quantitatively assess mechanical performance. As a consequence, it becomes difficult to study the therapeutic results achieved by the patient through the different stages of motor training. The use of robotic systems to assist upper-limb rehabilitation, however, offers possible improvements to these limitations. The aim of this project was to develop an exomuscular arm that could be actuated through a system of Bowden cables linked to precision DC motors housed in an actuation platform. The system assists and controls flexion and extension of the five fingers and the elbow, as well as pronation and supination of the wrist. Through a sensor array located throughout, a feedback system is able to collect quantitative data on position and pressure, and control all degrees of freedom utilizing this data and several on-board processors.