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The assistive and rehabilitation devices: orthoses, exoskeletons, wheelchairs, etc., are the mechanical or mechatronic devices designed for the rehabilitation and support of the human locomotive system’s function. When used by the patient a biomechanical or mechatronic complex system of device and human body is formed, which is the research object of the researcher group of Laboratory of Robotics at the National Polytechnic University of Armenia (NPUA).

More than two-thirds of all stroke patients have affected upper limbs and approximately 50% of them suffer from a chronic reduction in arm functions. The common symptoms are balance and coordination problems, muscle loss and muscle weakness that can lead to twitching, cramps, aches and pains.