Preliminary design of an Intention-based sEMG-controlled 3 DOF upper limb exoskeleton for assisted therapy in activities of daily life in patients with hemiparesis

Assisted therapy in activities of daily life is a method in which through repeated movements, patients are able to recover gradually their range of motion. We have focused on re-learning feeding motor skills. Since patients with hemiparesis have some degree of trouble moving and present weakness on one side of their bodies, they need assistance to carry out rehabilitation tasks. In that sense, an intention-based sEMG-controlled 3 DOF upper limb exoskeleton was designed to assist them during therapy process and evaluate the progress of patients. Clinical Relevance — Robotic assistance to motor rehabilitation has acknowledged impact over effectiveness of treatment, allowing faster recovery of mobility and function, especially for patients with severe impairment.