User Centred Design of Rehabilitation Robots

The design of modern rehabilitation robots must be user centred. Apart from safety, robustness and the classical technical aspects (kinematics, dynamics, etc.) other issues related with the patient should be considered in the design phase. The shoulder is a complex joint frequently simplified as spherical, but the alignment of the robot and the shoulder during the movements is relevant to deal with patients that often suffer weakness, pain, etc. Specially, for robotic exoskeletons given that they are “dressed” on the body. Aspects related to shoulder and upper-limb mobility are analysed. Clinical aspects such as the patient’s disorder or capabilities and the treatment prescribed impact the design as well as the patient comfort and the possibility of being treated at home instead of in a hospital. All these aspects are reviewed through its application on the rehabilitation exoskeleton SOFI design.