Usability and Acceptance of a New Robotic Exoskeleton for Shoulder Rehabilitation

Inclusion Criteria: * Height between 160 and 185 cm; * Distance between the shoulder joint center and the sagittal plane between 156 and 197 mm; * Shoulder joint center to wall distance between 82 and 142 mm * Maximum shoulter radius: 120 mm * Distance between the shoulder joint center and the elbow joint center between 250 and 303 mm * Time from acute event ≥ 60 days * Right shoulder joint disfunction after orthopaedic injury or surgery as a result of work accidents * Post-immobilization phase * At least 80° shoulder passive flexion and 45° shoulder passive abduction * Pain intensity on movement \< 6 NRS; Exclusion Criteria: * Glenohumeral joint instability * Shoulder Prosthetic implants * Upper arm sensorimotor deficits * Chronic inflammatory disorder involving upper arm joints * Pseudoarthrosis of the proximal humerus fractures * Spinal fractures within the last 3 months * Open skin at the level of the patient-device interface * Current or prior history of malignancy * Pregnancy or breast feeding