Design of arm exercises for rehabilitation assistance

  • Betsy Dayana Marcela Chaparro-Rico IRCCS Neuromed, Via dell’Elettronica, 86077 Pozzilli (IS), Italy
  • Daniele Cafolla IRCCS Neuromed, Via dell’Elettronica, 86077 Pozzilli (IS), Italy
  • Eduardo Castillo-Castaneda Instituto Politécnico Nacional–CICATA Querétaro, Cerro Blanco 141, Colinas del Cimatario, 76090 Santiago de Queretaro, Mexico
  • Marco Ceccarelli University of Rome Tor Vergata, Via Cracovia, 50, 00133 Rome, Italy


This paper presents the design and testing of arm exercises for rehabilitation assistance. The description of the human arm is presented together with the arm motion impairments. The motion planning for four arm exercises and the experimental procedure for data collection are described. A procedure to generate reference trajectories by regression analysis is explained. The procedure is numerically validated to prove the successfully generation of a representative trajectory for a set of trajectory samples. References trajectories are generated using the proposed procedure for four arm exercises through trajectory samples acquired from 12 subjects. The obtained reference trajectories can be used for rehabilitation assisting the traditional therapies using an automatized device.


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