Upper-Limb Robotic Exoskeleton for Early Cardiac Rehabilitation Following an Open-Heart Surgery—Mathematical Modelling and Empirical Validation

Robotic exoskeletons have the potential to enhance the quality of life of patients undergoing cardiac rehabilitation. Recent studies found that the use of such devices was associated with significant improvements in physical function, mobility, and overall well-being for individuals recovering from a cardiac event. These improvements were seen across a range of measures, including cardiovascular fitness, muscle strength, and joint range of motion. In addition, the use of robotic exoskeletons may help to accelerate the rehabilitation process, allowing patients to make faster progress towards their goals. This article proposes a new robotic exoskeleton structure with 12 DOFs (6 DOFs on each arm) in a symmetrical construction for upper limbs intended to be used in the early rehabilitation of cardiac patients following open-heart surgery or a major cardiac event. The mathematical modelling and empirical validation of the robotic exoskeleton prototype are described. The matrix exponential algorithm, kinetic energy, and generalized forces were employed to overcome the problem of high complexity regarding the kinematic and dynamic model of the robotic exoskeleton. The robotic exoskeleton prototype was empirically validated by assessing its functionalities in a lab and medical environment.