This article presents a methodology for the design of rehabilitation devices that considers factors involved in a clinical environment. This methodology integrates different disciplines that work together. The methodology is composed by three phases and 13 stages with specific tasks, the first phase includes the clinical context considering the requirements of the patient and therapist during the rehabilitation, the second phase is focused in engineering based on the philosophy of digital twin, and in the third phase is evaluated the device. This article explains the characteristics of the methodology and how it was applied in the design of an exoskeleton for passive rehabilitation of upper limb.

中文翻译：

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康复机器人的设计方法：在上肢康复的外骨骼中的应用

本文介绍了一种设计康复设备的方法，该方法考虑了临床环境中涉及的因素。该方法论整合了一起工作的不同学科。该方法由三个阶段和13个阶段组成，分别执行特定任务，第一阶段包括考虑患者和治疗师在康复期间的需求的临床情况，第二阶段着重于基于数字孪生原理的工程设计，以及第三阶段是评估设备。本文介绍了该方法的特点以及如何将其应用于上肢被动康复的外骨骼设计中。