Master Project

Full upper-limb exoskeleton integration and kinesthetic rendering

Frequent and high-intensity training, especially in the first six months, is crucial to improve upper-limb capacity of people after stroke. This leads to better performance in Activities of Daily Living (ADL) and thus, a better quality of life. Robot-assisted therapy can help to deliver high-intensity training, but no significant improvement compared to conventional therapy could be shown.

In this project, an exoskeleton for upper-limb rehabilitation (ARMin) is integrated with a hand module, which has been developed at the University of Bern, Switzerland. Following, low frequency haptic rendering is introduced to experience kinesthetic sensation. This is used in game design to simulate everyday object manipulation, like holding a cup of coffee or opening a door. Finally, the feasibility of the project is evaluated in a feasibility study involving healthy participants and the findings are protocolled in a scientific report.

Aims of the project

  • Literature research: Review of state-of-the-art upper-limb exoskeletons, haptic rendering and clinical study reviews.

  • Exoskeleton integration: Integration of the new hand module for the ARMin Exoskeleton regarding hardware, electronics and software.

  • Study design: The study procedure, goals and outcome measures are synthesized.

  • Testing: A feasibility study with healthy participants is to be conducted.

  • Scientific report: The methods and results of the study findings are protocolled in a scientific report.


Tiago Lomba