Upper-Limb robotic exoskeletons for stroke rehabilitation: A comprehensive review, comparative classification, and design guidelines
Keywords:
upper-limb exoskeleton, stroke rehabiliation, assistive technology, workspace optimization, human machine interfaceAbstract
This paper presents a structured review of upper-limb robotic exoskeletons for post-stroke rehabilitation, focusing on mechanical design principles, biomechanical compatibility, control strategies, actuation systems, and mechanical human–machine interfaces. State of the art developments were analyzed through major scientific databases and classified according to degrees of freedom, portability, sensing modalities, and rehabilitation objectives. The review highlights current design trends, limitations in commercial systems, and challenges related to kinematic alignment, workspace validation, and ergonomic integration.Based on the identified research gaps, particularly in cost-effectiveness, portability, and anthropometric adaptability—a 5-degree-of-freedom upper-limb exoskeleton, is presented as a case oriented design proposal. The architecture incorporates forward and inverse kinematic modeling to ensure compatibility with physiological ranges of motion of the shoulder, elbow, and wrist. Lightweight materials such as Polyoxymethylene and aluminum are considered to reduce distal inertia and improve wearability. This work contributes a comparative classification framework and biomechanically grounded design guidelines aimed at facilitating accessible and scalable neurorehabilitation technologies.
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