A Gravity-Compensated Upper-Limb Exoskeleton for Functional Rehabilitation of the Shoulder Complex

In the last decade, several exoskeletons for shoulder rehabilitation have been presented in literature. Most of these devices focus on complex and limit normal mobility rest body, forcing patient into a fixed standing or sitting position. Nevertheless, this severely limits range activities that can potentially be simulated during rehabilitation, preventing execution occupational therapy which involves tasks based daily living (ADLs). These involve different muscular groups whole-body movements, such as, e.g., picking up objects from ground. To enable functional challenge is to shift paradigm robotic towards machines wide workspaces high mobility. perspective, here we present Float: an upper-limb exoskeleton designed promote accelerate motor recovery joint following post-traumatic post-surgical injuries. Indeed, Float allows move freely very large workspace. The key component enables passive polyarticulated arm supports total weight space, empowering through deeper interaction with surrounding environment. A characterization reachable workspace both presented. results support conclusion wearing perform variety ADLs without bearing its weight.