Abstract

The possibility to use collaborative robots in close cooperation scenarios is probably their most interesting characteristics. In industry, this allows the implementation of human in the loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper a rehabilitation framework for upper limbs of neurological patients is presented, consisting of a collaborative robot helping the users in performing a given three-dimensional trajectory. Such practice is aimed at improving patients’ coordination by driving their motions along a preferred direction. The mechatronic set up is shown in the following, together with a preliminary experimental set of results.

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