LINarm: A Low-Cost Variable Stiffness Device for Upper-Limb Rehabilitation

This paper presents LINarm, a device for at-home robotic upper-limb neurorehabilitation. Exploiting peculiar aspects of variable-stiffness actuators, it features functionalities widely addressed by devices specifically designed for assisted rehabilitation as controlled motion, force feedback and safety, together with the low-cost requirement for a widespread installation at patients' home.