ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot

This video demonstrates the performance of the Rehabilitation Robot proposed in the IEEE paper:
"ANYexo: A Versatile and Dynamic Upper-Limb Rehabilitation Robot"
IEEE: ieeexplore.ieee.org/abstract/...
Open Access: www.research-collection.ethz....
Abstract: This paper presents a versatile upper-limb exoskeleton based on low-impedance torque controllable series elastic actuators. It is designed as an experimental platform to validate novel algorithms and hardware concepts that aim towards more autonomy of robots for therapy of moderately and severely affected patients with a neural impairment (\eg after stroke). The proposed exoskeleton was designed to have a large range of motion to cover the activities of daily life (ADL). The robot should behave transparent even at speeds up to $\approx$\SI{6}{
adian/\second} which are common for healthy people to not constrain patients. The presented robot achieves a similar RoM as needed for ADL, while the kinematics are optimized for high manipulability at ADL. We use modified modular series elastic actuators that provide the power, torque control bandwidth and precision required for this application. The presented robot unites a large RoM, high power to weight ratio, high torque control fidelity at speeds typical for healthy people, and versatility for experiments in one device. To our knowledge no other device exists that is tailored to such an extent for this application. We demonstrate with a model based compensation of the robots dynamics a transparent behavior even at high speeds.

[@MrLeocars97]

"The robot should behave transparent even at speeds up to $\approx$\SI{6}{ adian/\second} which are common for healthy people to not constrain patients." - when you copy and paste the LaTeX abstract lol. Bth, very good work guys!! Congrats

[@RAGHDA_NOUH]

I liked the design and how it moves smoothly. one thing, there is a bulk over the shoulder which can hit the face with certain movements. another thing, you showed how smooth it moves without showing the role of the robotic support, especially you did active free exercises! I wish I could see another video showing the abilities of this robot

[@saeed6811]

This is a hand GYMBOL. The motor on the shoulder is too close to the face and neck at some angles. I love it though.

[@myperspective5091]

Looks smooth, but it also looks like it could use one little Improvement. That little servo that's near your ear the one just above your shoulder looks like it could be moved. Maybe offset that one or make it parallel with that strut so it doesn't keep hitting you in the side of the head.

[@vieuddinsphysioblog1175]

Where i can purchase it...?

[@takoda598]

I saw a video about an advanced prosthetic arm developed by a Swiss Federal Technical College. Would it be you?

[@vieuddinsphysioblog1175]

How much its cost...?

[@nunobartolo2908]

It’s competing with very cheap dumbbells what rehab clinic would buy this?

[@williamhuang5329]

Hanzhen harmonic drive gear , strain wave gear reducer, robot joint , over 30 years experience

[@archi2nd]

Holonomic joints!!!!