Technology
The RobExReha robotic system should meet the demand to provide (adaptive) support to the patient, while ensuring a high level of safety. Therefore, the commercially available LBR iiwa robotic arm (KUKA AG, DE) was chosen, which is designed for safe human-robot interactions. The robotic arm was mounted on a cart in a 45° angle and interfaced with the patients’ right arm at the robot flange (see Fig. 
Left: subject using the RobExReha system with the HoloLens for the gaming application. Right: arm-robot interface used by a patient during the therapy with the RobExReha system
Arm-robot interface of the RobExReha system: Picture 