LIGHTarm: an exoskeleton for upper-limb neurorehabilitation

This paper presents the prototype of LIGHTarm, an exoskeleton for neuro-rehabilitation whose main feature is the low cost, not actuated design, capable of providing weight support and god transparency features. Our first experimental trials on three healthy subjects investigated such characteristics by comparing the kinematics and the EMG activity of the main muscles involved in functional daily life motor tasks.