This paper presents the design and the clinical validation of an upper‐limb force‐feedback exoskeleton, the L‐EXOS, for robotic‐assisted rehabilitation in virtual reality (VR). The L‐EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post‐stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (paired t ‐test, p < 0.02)
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Frisoli et al. (2009) studied this question.
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