A REVIEW OF END-EFFECTOR REHABILITATION ROBOTS FOR SHOULDER AND ELBOW JOINTS

hamid khabiri, Milad Nazarahari

Keywords: Rehabilitation robotics

TL;DR: Review article

Abstract: Stroke often leaves survivors with long-lasting impairments of shoulder and elbow function, limiting their independence in daily life. End-effector rehabilitation robots (SEERRs) have emerged as promising tools to deliver repetitive, task-specific, and quantitative therapy that complements conventional rehabilitation. This review systematically examined 80 SEERRs developed between 1995 and 2024, analyzing their structural and functional characteristics. Most devices employ electric actuation—especially brushless DC motors—and linkage or cable-driven transmission to support planar shoulder–elbow movements. Training modes span passive, active-assistive, active, and resistive control, with impedance strategies widely used to ensure safe interaction. While unilateral designs dominate, bilateral training offers superior motor outcomes. Emerging trends highlight compact, home-based systems, telerehabilitation platforms enabling remote monitoring, and highly backdrivable designs for safe patient-led interaction. Despite significant progress, only a small fraction of SEERRs have reached commercialization. Developing affordable, portable, and user-friendly devices that integrate both shoulder and elbow rehabilitation remains a critical future goal.

Submission Number: 38