Design and Modelling 4 DOFs Upper Limb Exoskeleton

Abstract

Based on upper limb’s biomechanisms, in this paper, a robotic rehabilitation system is presented. It is designed as a 4 DOFs wearable exoskeleton applicable for repetitive practice of passive or active movements of the arm in shoulder joint and forearm in elbow joint. The kinematic analysis of the proposed system is followed by the 3D model and a description of the developed prototype.

Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

“…Upper-limb complexity lays in the number of DoF that is provided by their subsystems, where altogether, shoulder (3 DoF excluding scapular movement), elbow (1 DoF), and wrist (3 DoF), deliver a total of 7 DoF of spatial motion. Given the redundant nature of the arm, it is possible to perform multiple pose configurations to complete a task or movement, which is expressed with a mathematical model with no single solution [32][33][34]. Hence, to solve this model, it is necessary to understand the motor control mechanism of the human arm and select the most adequate solution for its biomechanics [4,35,36].…”