Exoskeletons Rehabilitation

Exoskeletons are becoming very powerful tools to help therapists in the rehabilitation of patients who have suffered from neurological conditions, in particular stroke or spinal chord injury (SCI). Research has shown that the most effective types of physiotherapy are exercises and practicing specific tasks that one aren't able to do well.For example if one is having difficulty maintaining balance when standing he/she needs to practice standing up a lot; and if one is having difficulty walking she/he needs lots of walking practice etc.\newline

During therapy the patient will be strapped into the anchored machine which will then induce therapeutic movements in their leg or arm.This device should allow the patient to move through 4 to 5 degrees of freedom depending on whether the exoskeleton is for the leg or arm.The exoskeleton for severities of inhibition it must either have predetermined or pre-programed movements and speeds deemed appropriate by the therapist.For patients with complete loss of movement ,or for those with slightly affected limbs the device must measure the patient's effort and assist them in the same direction and with the same proportion as his/her effort.\newline …show more content…
Safety and comfort of the patients using the exoskeleton are major priorities that can't be compromised together with the stability of the system,as a result different control strategies and techniques are implemented to enhance the safety and comfort of the operator.\newline

This paper presents the study and implementation of efficient and stable Trajectory Control of an Exoskeleton with elastic