A Pneumatic Robot for Re-Training Arm Movement after Stroke: Rationale and Mechanical Design

I think I like the Japanese one better.
http://gram.eng.uci.edu/~bobrow/papers_files/C54.pdf
Abstract—This paper describes the development of a
pneumatic robot for functional movement training of the arm
and hand after stroke. The device is based on the Wilmington
Robotic Exoskeleton (WREX), a passive, mobile arm support
developed for children with arm weakness caused by a
debilitative condition. Previously, we scaled WREX for use by
adults, instrumented it with potentiometers, and incorporated a
simple grip strength sensor. The resulting passive device
(Training WREX or “T-WREX”) allows individuals with
severe motor impairment to practice functional movements
(reaching, eating, and washing) in a simple virtual reality
environment called Java Therapy 2.0. However, the device is
limited since it can only apply a fixed pattern of assistive forces
to the arm. In addition, its gravity balance function does not
restore full range of motion. Therefore, we are also developing
a robotic version of WREX named Pneu-WREX, which can
apply a wide range of forces to the arm during naturalistic
movements. Pneu-WREX uses pneumatic actuators, non-linear
force control, and passive counter-balancing to allow
application of a wide range of forces during naturalistic upper
extremity movements. Besides a detailed description of the
mechanical design and kinematics of Pneu-WREX, we present
results from a survey of 29 therapists on the use of such a
robotic device.



Japanese one here:
http://oc1dean.blogspot.com/2011/09/upper-limb-rehabilitation-suit.html