• Arm rehabilitation
• Exoskeleton
• Medical robots
• Rehabilitation robotics
• Stroke
• Virtual Reality

This thesis presents the application of the L-Exos system, which is a force-feedback exoskeleton for the right arm developed at the Scuola Superiore Sant’Anna, Pisa, for robotic-assisted rehabilitation. After an essential introduction to strokerelated impairments and to existing robotic devices that are currently being employed for post-stroke rehabilitation, many technical details of the developed integrated system will be reviewed. Emphasis will be given to the characteristics that make such structure suitable for robotic arm rehabilitation, to the improvements that have been implemented in order to use the device with stroke patients, to the control architecture and to the VR-aided rehabilitation protocols that have been implemented. In particular, three different schemes of therapy in Virtual Reality are presented in terms of control architecture and description of the task. The experimental results of a clinical evaluation conducted at the Santa Chiara Hospital in Pisa with nine chronic stroke patients are reported and discussed.