PhiCube: a reconfigurable bilateral robotic device for neurorehabilitation

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PhiCube is a modular robotic platform designed for bilateral upper-limb rehabilitation in pediatric populations with neuromotor disorders.
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The device features independent motorized joints that can be reconfigured to align with anatomical planes for versatile therapeutic applications.
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Kinematic simulations demonstrated that PhiCube can facilitate various training patterns, from isolated distal movements to multi-joint synergies.
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The bilateral coupling controller allows for adjustable inter-limb interaction, ranging from unilateral guidance to fully symmetric bilateral coordination.
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PhiCube integrates gamification to enhance engagement during therapy, mapping game trajectories to robotic assistance in real-time.

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