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Design of Wearable Upper Limb Orthosis for Training and Rehabilitation without Actuator

This paper describes a wearable upper limb orthosis that could be integrated within a home-based rehabilitation system for stroke patients. This orthosis consists of links and the installation of springs. First, the advantages of this design are with no actuating motors, with simple structure, and with lightweight, but with similar benefit as other therapeutic robots. Second, through the installation of springs to provide with spring force, when patients wearing this upper limb orthosis will feel the resistance, to benefit for more effective muscle rehabilitation exercise. At last, the advantage of this design is that due to the installation of springs and springy clamp one, users wearing the upper do rehabilitation training according with human skeleton movement trajectory, which makes users comfortable and that contributes to biceps, triceps, and deltoid muscles on the upper arm and shoulder training.