Upper-limb Exoskeleton Robot with Rehabilitation Activities for Stroke Rehabilitation

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วิบูลย์ แสงวีระพันธุ์ศิริ


The objective of this research was to develop an upper-limb exoskeleton robot with interfacing to rehabilitation activity games for hemiplegic stroke patients. The developed robot is CUREs. The CUREs robot is patenting under the author names with patent request no. 1601003553 [23]. It has four-degree-of-freedom. The robot arm has gravity compensation so that the smaller actuators can be used and the better performance of the dynamic control system can be achieved compared to the heavier arm that normally seen in the market. The detail of the development of robot arm and controller design can be consulted in [15], [18].  In this paper, the kinematics and the dynamic model of the robot arm will be analyzed in detail. Both are used for developing the interface between the robot arm and rehabilitation games or activities. The rehabilitation activities can improve recovery rate compare to normal treatment in hemiplegic stroke patients.  The interface technique between the robot and rehabilitation game, developed in this paper, can be implemented not just only the in-house game but also to most of the commercial games. Actually, there are two types of rehabilitation activity games. One will cover the activities for specific treatments assigned by a physician or a physical therapist. The other is for relaxing after going through a period of specific training. The second type of training activity is based on available arcade games or commercial games and will help to improve arm movement control close to the normal arm movement. The force control, of the dynamic controller, of the robot arm can be adjusted force to suit to individual patients. The main benefit of the interfacing can help to extend to various type of rehabilitation activities.

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How to Cite
แสงวีระพันธุ์ศิริ ว., “Upper-limb Exoskeleton Robot with Rehabilitation Activities for Stroke Rehabilitation”, sej, vol. 12, no. 2, pp. 178–188, Jul. 2018.
Research Articles


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[23] วิบูลย์ แสงวีระพันธุ์ศิริ, อานันท์ สุตาพันธ์, ระบบหุ่นยนต์สำหรับสวมใส่ที่แขนแบบโครงร่าง 4 ข้อต่อที่มีชุดชดเชยน้ำหนัก, คำขอสิทธิบัตรเลขที่ 1601003553, 2559.