The Development and Clinical Testing of “EXAR”, Passive Upper Limb Exoskeleton

Vorobyev A.A., Andryushchenko F.A., Ponomareva O.A., Solovyeva I.O., Krivonozhkina P.S.

Key words: passive exoskeleton; paresis; anatomic parametrisation of an exoskeleton; upper limb exoskeleton.

2016, volume 8, issue 2, page 90.

DOI: https://doi.org/10.17691/stm2016.8.2.13

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The aim of the investigation was to develop and perform a clinical approbation of a modern passive upper-limb exoskeleton for the habilitation and rehabilitation of disabled patients with upper flaccid para(mono)paresis.

Materials and Methods. We performed a phase-by-phase anatomic parametrisation of an exoskeleton. We tested different exoskeleton designs made of different materials. Testing was also carried out on the various spring elements and rubber rings used as elastic elements. On the basis of the findings we created “EXAR”, a prototype passive exoskeleton for the upper limb. Testing of the design and the adaptation of its elements was carried out on 7 patients with upper para(mono)paresis syndrome.

Results. On comparing the materials for possible use in the “EXAR” exoskeleton we preferred magnesium-aluminium alloys and the use of rubber rings for its elastic elements. During the design and production of this exoskeleton we observed a modular principle. In use we were able to note that the “EXAR” passive exoskeleton increased the range of movement in the shoulder and elbow joints, this being a key requirement for the device in addition to its effect on habilitation and rehabilitation.

Conclusion. We consider the results of approbation of the “EXAR” passive exoskeleton for the upper limb to be positive, but that they indicate a requirement for further development and modernisation.

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