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This study presents the design, implementation, and evaluation of a low-cost upper-limb exoskeleton prototype intended to assist individuals with motor impairments, particularly those who have suffered a stroke. The device integrates a simple motorized system with 3D-printed components, emphasizing accessibility, portability, and replicability. Control loops were developed to regulate joint movements and ensure safe and effective assistance. Pilot tests conducted with healthy volunteers demonstrated the exoskeleton's potential to support upper-limb motion, although areas for improvement were identified, including comfort, ergonomics, and individual adaptability. As a future enhancement, the integration of a brushless AK60–6 V1.1 motor is proposed to improve the system’s precision and dynamic responsiveness.

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Design and Development of a Functional Prototype of an Upper-Limb Exoskeleton for Neurorehabilitation Assistance

  • 会议论文

  • 发表日期：

    2026年

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  • Solana López Aguero,
  • Leandro Mayrata,
  • Esteban Osella,
  • Rosa Weisz

摘要

This study presents the design, implementation, and evaluation of a low-cost upper-limb exoskeleton prototype intended to assist individuals with motor impairments, particularly those who have suffered a stroke. The device integrates a simple motorized system with 3D-printed components, emphasizing accessibility, portability, and replicability. Control loops were developed to regulate joint movements and ensure safe and effective assistance. Pilot tests conducted with healthy volunteers demonstrated the exoskeleton's potential to support upper-limb motion, although areas for improvement were identified, including comfort, ergonomics, and individual adaptability. As a future enhancement, the integration of a brushless AK60–6 V1.1 motor is proposed to improve the system’s precision and dynamic responsiveness.