ARMin - robot for rehabilitation of the upper extremities

Nef, Tobias; Mihelj, Matjaz; Colombo, Gery; Riener, Robert (2005). ARMin - robot for rehabilitation of the upper extremities. Automatisierungstechnik at, 53(12), pp. 597-606. Oldenbourg 10.1109/ROBOT.2006.1642181

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Task-oriented repetitive movements can improve motor recovery in patients with neurological or orthopaedic lesions. The application of robotics can serve to assist, enhance, evaluate, and document neurological and orthopaedic rehabilitation. ARMin is a new robot for arm therapy applicable to the training of activities of daily living in clinics. ARMin has a semiexoskeletal structure with six degrees of freedom, and is equipped with position and force sensors. The mechanical structure, the actuators and the sensors of the robot are optimized for patient-cooperative control strategies based on impedance and admittance architectures. This paper describes the mechanical structure, the control system, the sensors and actuators, safety aspects and results of a first pilot study with hemiplegic and spinal cord injured subjects.

Item Type:

Journal Article (Original Article)


10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Gerontechnology and Rehabilitation

UniBE Contributor:

Nef, Tobias


600 Technology > 620 Engineering








Vanessa Vallejo

Date Deposited:

04 Jul 2014 09:10

Last Modified:

05 Dec 2022 14:32

Publisher DOI:


Uncontrolled Keywords:

Rehabilitation robot, upper extremities, semi exoskeleton


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