A Novel Approach to Trunk Rehabilitation: Designing an Upper Body Robotic Mobilizer for Neurological Disorders.

After a neurological adverse event, restoring trunk functionality is essential for regaining balance, proprioception, and strength, all of which are critical for performing activities of daily living and enabling rehabilitation for impaired upper and lower limbs. Traditional therapy focuses on enhancing core strength, stability, and proprioceptive capabilities. Recent advancements in the field propose robotic solutions that utilize platforms to induce specific movements, stimulating muscular activation and prompting patients to respond to guided motions. These solutions often employ robotic seats that mimic traditional clinical tools, such as cushions or physiotherapy balls, to assist in mobilizing patients. In this work, we introduce a novel approach to trunk rehabilitation through a robotic system: a Series Elastic Actuator (SEA)-based trunk robotic mobilizer. This device is paired with a suite of control strategies designed to address various neurological conditions, including spinal cord injury, post-stroke impairments, and pusher syndrome.