Design of a rehabilitation device of bilateral upper limbs for post stroke patient = Thiết kế thiết bị hỗ trợ điều trị phục hồi chức năng chi trên hai bên cho bệnh nhân sau đột quỵ não

Abstract

This paper presents the design and development of a bilateral upper-limb rehabilitation assistive device for post-stroke patients. The system is based on an exoskeleton robot architecture and provides a total of 38 degrees of freedom to support passive rehabilitation exercises and accommodate different patient postures. The exercise arm modules reproduce major physiological movements of the shoulder, elbow, forearm, wrist, and hand, while seven positioning degrees of freedom on each side and three translational degrees of freedom enable flexible adjustment to different body types and limb dimensions. The device uses brushless DC motors, harmonic drive reducers, and stainless steel INOX 304 components to provide structural rigidity, accuracy, smooth operation, corrosion resistance, and suitability for clinical or home environments. Adjustable modules allow patients to perform rehabilitation exercises in prone, supine, and seated positions. The proposed design provides a flexible platform for reproducing upper-limb movement patterns required in post-stroke rehabilitation and can incorporate interactive exercises to improve patient engagement.