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Department of Engineering, ICT and Technologies for Energy and Transport Patent Title Biomedical device for ƌŽďŽƟnjĞd rehabŝůŝƚĂƟŽŶ of a human upper limb, paƌƟĐƵůĂƌůLJ for neuromotor rehabŝůŝƚĂƟŽn of the shoulder and elbow joint. Ref. CNR 10156 Assignee(s): CNR CNR InƐƟƚute: ITIA Main Inventor: DĂƩĞŽ Malosio Countries: IT, EP, US Priority date: 28/09/2010 Abstract The present inveŶƟon relates to a biomedical device for assisted neuromotor rehabiliƚĂƟon of the shoulder and elbow joints of a human body. The present inveŶƟŽn overcomes limŝƚĂƟŽŶƐ ĂīeĐƟŶŐ pre- exisƟŶŐ exoskeletons for neurorehabŝůŝƚĂƟon and, in ƉĂƌƟcular, a) the intrinsic kiŶĞŵĂƟĐ singularity of the structure nearby a completely extended conĮŐƵƌĂƟŽŶ of the elbow, b) the apƉƌŽdžŝŵĂƟŽn of the shoulder movement by a spherical joint. Overcoming these limŝƚĂƟŽŶƐ results in an extended range of moƟŽn of the whole upper limb with a more adaptable mobility to the shoulder movement. The developed kinemaƟc structure can be exploited to realize both a passive, unactuated and gravity- balanced exoskeleton, helpful to support the pĂƟent’s arm with a lightweight and cost-eīeĐƟǀe soůƵƟŽŶ, and an actuated one for ƉĂƟĞŶƚƐ with few residual ŵŽƟŽn abŝůŝƟĞs. Background Nowadays, in order to improve and ŽƉƟŵŝnjĞ techniques of neuromotor rehabiliƚĂƟŽn of the human body limbs, it is known art to use motorized or assisƟve device to allow the pĂƟent musculoskeletal apparatus to follow physiological movements. Developed sŽůƵƟŽŶƐ typically lack of a) an extended exploitable mobility of the elbow arƟĐƵůĂƟon and b) a comfortable and humanͲĐŽŵƉĂƟďůe ŵŽƟŽŶ of the joint reƉůŝĐĂƟŶŐ the complex human shoulder arƟcƵůĂƟŽn. Technology The present inveŶƟon refers to a biomedical device made up of an hybrid kinemaƟc structure, characterized by both actuated and unactuated joints, associable respĞĐƟvely with the upper arm and the forearm, and connected by a peculiar arrangement of joints prevenƟng the elbow singularity and allowing a suitable mobility to shoulder movements. Advantages and ApplicaƟons The kinemaƟc architecture allows a wide mobility of the elbow joint and a humanͲĐŽŵƉĂƟďůĞ ŵŽƟŽn of the shoulder joint. The kinemĂƟĐ scheme can be exploited to realize both an ĂĐƟve and a passive gravity- balanced exoskeleton, to support the upper arm mass and facilitate rehabŝůŝƚĂƟon exercises. It is interfaceable with adĚŝƟŽŶĂl physiological devices for ŵƵůƟŵŽĚĂl assisƟǀĞ rehabŝůŝƚĂƟŽŶƐ͘ Development stage A prototype of the exoskeleton is been developed in two ĚŝīĞƌĞnt versions within the RIPRENDO@home project: the Įrst one will enable a ƉĂƟent to move the upper limb, passively suppŽƌƟŶŐ its mass thanks to a system of spring-based gravity-balanced mechanism. The second one is a ƌŽďŽƟc exoskeleton enabling the exeĐƵƟŽn of assisted movements to be installed in clinics and rehabŝůŝƚĂƟŽn centers. 67