LIGHTarm: a gravity-compensated exoskeleton for the upper-limb rehabilitation

Abstract-- This paper presents LIGHTarm, a highly ergonomic gravity-compensated exoskeleton for the upper-limb neurorehabilitation, characterized by a peculiar kinematic structure, expressly conceived to face shoulder rhythm and elbow singularity issues, achieving high backdrivability throughout a large exploitable range of motion. The designed gravity compensation mechanism guarantees a good limb support for impaired people, facilitating upper-limb spatial movements in rehabilitation therapies.