This paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at home. The main goal of the design process has been to obtain a rehabilitation device, which can be easily portable and can be managed remotely by a professional therapist. This allows to treat people also in regions that are not easily reachable with a significant cost reduction. Other potential benefits can be envisaged, for instance, in the possibility to keep social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design the main mechatronic components by developing specific kinematics and dynamics models. The design process includes the implementation of a specific control hardware and software. Preliminary experimental tests are reported to show the effectiveness and feasibility of the proposed design solution.

本文讨论了一种用于家庭上肢康复任务的新型仿生机器人设备的设计。设计过程的主要目标是获得一种康复设备，该设备易于携带且可由专业治疗师远程管理。这也允许在不易到达的地区治疗人们，并显着降低成本。可以设想其他潜在的好处，例如，即使在大流行传播期间，也可以保持社交距离，同时允许进行康复治疗。通过开发特定的运动学和动力学模型，特别关注设计主要机电组件。设计过程包括具体控制硬件和软件的实现。