ChARMin: The First Actuated Exoskeleton Robot for Pediatric Arm Rehabilitation

ChARMin is the first actuated exoskeleton robot for pediatric arm rehabilitation. The device was specifically designed to provide intensive rehabilitative training for children with affected arm motor function, e.g., due to cerebral palsy; therewith complementing conventional therapies. This paper gives a comprehensive overview of the ChARMin robot, which provides six actuated degrees of freedom, and is designed to cover the complete target group of children and adolescents aged 5-18 years. Moreover, the new audiovisual game-like interface is presented, which motivates active participation of the child. To support the child's arm movements with the exoskeleton, a patient-cooperative control strategy was implemented. The controller enables free arm movements, assistance-asneeded, and complete guidance of the arm. Five children aged 5-17 years with impaired arm motor function due to cerebral palsy, stroke, and traumatic brain injury tested the various training scenarios with different amounts of support, and robot settings depending on the therapeutic goals and the children's movement capabilities and preferences. These preliminary tests suggest that the ChARMin setup can be used as an advanced exercise tool for arm neurorehabilitation that optimally challenges children and adolescents with severely tomoderately affected armmotor functions.