The LIMPACT is an exoskeleton developed to be used in identifying the reflex properties of
the arm in stroke survivors. Information on joint reflexes helps in designing optimal patient
specific therapy programs. The LIMPACT is dynamically transparent by combining a
lightweight skeleton with high power to weight ratio actuators. The LIMPACT is supported by
a passive weight balancing mechanism to compensate for the weight of the exoskeleton and
the human arm. Various self-aligning mechanisms allow the human joint axes to align with …