Harmony is an upper body exoskeleton whose development commenced in 2011 as a platform for stroke rehabilitation focussed on the shoulder. Its novel mechanisms track the complex human shoulder joint as well as the scapular movement of the shoulder girdle. Our advanced actuator and controller technology allow Harmony to customize gravity compensation, assistance, and impedance as needed for the patient. This assist-as-needed paradigm encourages the active participation of patients. With 14 active degrees-of-freedom, Harmony powers the movement of both arms and can thus also provide bimanual therapy, which is developed based on the neurological coupling between left and right halves of the human nervous system.
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