AssistOn-Mobile: A Series Elastic Holonomic Mobile Platform for Upper Extremity Rehabilitation

AssistOn-Mobile is a series elastic holonomic mobile platform, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. AssistOn-Mobile is a low-cost, portable, easy-to-use rehabilitation device targeted for home use. In particular, AssistOn-Mobile consists a holonomic mobile platform with four actuated Mecanum wheels and a compliant, low-cost, multi degrees-of-freedom series elastic element as its force sensing unit. Thanks to its series elastic actuation, AssistOn-Mobile is highly backdriveable and can provide assistance/resistance to patients, while performing omnidirectional movements on plane.