Design and Analysis of a Parallel Haptic Orthosis for Upper Limb Rehabilitation
Parallel haptic orthoses were designed to improve human locomotion capability, develop joint strength, and increase endurance through physical rehabilitation exercises for the human limbs. The development of such rehabilitation devices improve the quality and increase the frequency of physical rehabilitation exercises that a patient has to undergo during treatment. This paper describes the design of a grounded hand and arm rehabilitation orthosis. The orthosis provides bi-directional haptic feedback to the arm and joints of the fingers and the novel dynamic counterweight balancing mechanism prevents the effects of loading on the user’s arm.