The Development of a Low-Cost Exoskeleton Arm for Rehabilitation Use

Abstract

This research is based on the development of a low-cost fully functioning exoskeleton arm to assist in the rehabilitation of individuals who may have difficulty using their forearm or had a minor stroke. Although there are existing exoskeleton arms on the market, they tend to be very expensive ranging from ${\$}$5000 - ${\$}$20,000+ USD. These costs are inhibitive for low-income persons in the developing countries of the Eastern Caribbean. The exoskeleton hand was managed by a Teensy 3.6 microcontroller which controlled the actuators and read the data from the arm’s sensors. The exoskeleton was built using 3D printing technology to minimize the development cost and weight associated with metals. Experiments were conducted where the user was required to perform a set of actions such as lifting their forearm and clenching their fingers. These experiments focused on recording the users’ muscle responses with and without assistance from the exoskeleton arm. Results showed that the exoskeleton was successful in supporting the user’s arm movements by reducing the required effort required to complete the action(s). A very basic model of the signals required to predict arm movement was also developed.