Upper Limb Exoskeleton for the
Rehabilitation of Post-Stroke Patients
Figures of the World Healthcare
Organisation show that stroke
is currently the leading cause of
disability world-wide. This has major
consequences. Not only do millions
of people have to live with severe
disabilities following a stroke, the
economic burden and shortage of
rehabilitation therapists are also on
the increase. In order to address
these problems, scientists of the
Delft University of Technology have
developed a robotic exoskeleton
system that meets the requirements
of effective post-stroke upper-limb
rehabilitation whilst addressing the
economic burden. Currently, 1.3
million stroke patients in Europe
alone might benefit from this
solution.
Invention Compared to Prior
Inventions
Most current robotic devices do not
account for the natural redundancy of
the human upper extremities, causing
potentially harmful misalignments as
they do not support complete motion
of the upper limbs. The new invention
is composed of a wearable upper-limb
exoskeleton that supports the full
motion of the glenohumeral joint and
the shoulder girdle. Its construction not
only provides a far more accurate and
full motion of the upper extremity, it
also protects the joints against harmful
loading. A further major advantage is
the scalability to adjust the task to the
physiological properties and cognitive
capabilities of the user. It is expected
that the resulting natural movements
will optimize the recovery of the patient
compared to prior inventions.
The combination of traditional therapy
with robotic therapy shows results
that are far more favourable compared
to traditional therapy alone. A further
advantage of the exoskeleton is that it
can also be used at home. Therapists
can programme exercises which
patients can carry out at home, thus
optimizing the effect of post-stroke
rehabilitation. Optimal intensity of
the physical therapy is maintained
as the exoskeleton is not susceptible
to fatigue. The device is suitable for
grounded and ungrounded use as it
can be mounted to a (wheel) chair.
This makes it suitable for patients
with different levels of disability and
promotes independent living.
Potential Target Groups and
Benefits
The affordable light weight system has
been developed with a focus on two
market opportunities:
1. To support group therapy sessions
under supervision of a physical
therapist. This will increase the
productivity of the therapist and
promote interaction between
patients.
2. Support for in-home rehabilitation
with the aid of family or friends,
under remote supervision of a
physical therapist. Outpatient care
will drastically lower the costs of
post-stroke rehabilitation while
optimal therapy is maintained and
the productivity of the therapist is
increased.
Other potential, widely applicable,
uses include post-surgery therapy and
therapy for sports injuries, neurological
disorders (MS, Parkinson’s), clean-up
robots at disaster sites and kinaesthetic
feedback systems for operations with
virtual environments.
Advantages
• Support of complete human motion
envelope
• Improved patient results due to the
combination of therapy and at home
and clinic
• Affordable and light-weight
• Scalability to adjust task to
physiological properties cognitive
capabilities
• Reduces the economic burden
• Grounded and ungrounded use
• Potential other uses
Ref. TU Delft OCT-13-076
TU Delft / Valorisation Centre
Mekelweg 4
2628 CD Delft
T: 015-2786751
www.patent.tudelft.nl