Implementation of resistance training using an upper-limb exoskeleton rehabilitation device for elbow joint

Most exoskeleton devices for upper-limb rehabilitation are heavy and bulky. The present study develops a light and wearable exoskeleton device for passive and resistance training that can potentially be used in home rehabilitation. A method for implementing resistance rehabilitation based on the proposed upper-limb exoskeleton rehabilitation device is proposed. The method is able to be used commonly in the field of Human-machine force interaction where the machine is of high friction, non-backdrivibility which causes the difficulty to obtain contact force. To verify the efficacy of the method, experiments were conducted under two conditions, namely with passive degrees of freedom unlocked and locked, during elbow flexion and extension. In each case, three levels of resistance were generated and provided to the user. The processed EMG signals can be used to verify that the method is effective in both of cases.