Design of a parallel device for neurorehabilitation

This paper presents the mechanical architecture and the design of a 2DOF parallel device for upper-limb neurorehabilitation. Geometric parameters have been obtained by optimizing kinematic performances. The prototype has been designed so that it can be bound on one side of a table with a clamp. The structure embeds two single-point load cells to measure the force exchanged with the patient, and to allow the execution of assist-as-needed therapies.