Execution and perception of upper limb exoskeleton for stroke patients: a systematic review

Authors：Xu, Pengpeng; Xia, Dan; Li, Juncheng; Zhou, Jiaming; Xie, Longhan^*

Source：Intelligent Service Robotics, 2022, 15(4): 557-578.

DOI：10.1007/s11370-022-00435-5

• Stroke
• Upper limb exoskeleton
• Rehabilitation
• Execution
• Perception

Due to the lack of therapists and the demand for objective rehabilitation training indicators, the upper limb rehabilitation exoskeleton (ULR-EXO) has attracted more and more concentration. Execution and perception are the two most important technologies of ULR-EXO. A unified analysis of their essential anatomical characteristics and rehabilitation training needs will help to understand the future development trend of the ULR-EXO. According to the anatomical and kinematic features of the upper limb, combined with human-robot compatibility, this paper introduces the structural design of the ULR-EXO, the classification of execution, and the existing problems, summarizes the status quo of perceptual information, and classifies signal sources according to the signals generated by stroke patients in human-robot interaction. This paper also briefly summarizes the control methods of the ULR-EXO in different rehabilitation stages. Finally, based on the two stages of hospital treatment and family rehabilitation, the design requirements of the ULR-EXO and the selection of sensors based on different mechanism forms are discussed, which provides some reference values for researchers in this field.