Development of robotic orthosis for upper limb rehabilitation in post stroke therapy

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The purpose of this study is to develop the robotic trunk-scapula orthosis for reach-to-grasp tasks in post stroke rehabilitation. The trunk orthosis has 4-degrees of freedom by one pelvis inclining axis and 3 thorax motion including flexion, lateral movement and rotation. Therapists utilizes underarm support to facilitate upper arm motion. To realize therapist's technique on supporting the tendon of latissimus dorsi, a robotic hand with thumb motion was developed for grasping scapula. Analyses of reach-to-grasp motion using the robotic orthosis indicated that the trunk motion was cooperated with upper arm motion including foot support to manage the center of balance of whole body.