ARMin - Design of a Novel Arm Rehabilitation Robot

Task-oriented repetitive movement can improve movement performance in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation of movements. ARMin is a new robot for arm therapy applicable to the training of activities of daily living in clinics. ARMin has a semi-exoskeleton structure with six degrees of freedom, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architecture. This paper describes the new robot, the mechanical structure, the control circuit, the sensors and actuators and some safety aspects.