Upper Limb Powered Exoskeleton

—An exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. With applications in rehabilitation medicine and virtual reality simulation, exoskeletons offer benefits for both disabled and healthy populations. A pilot database defining the kinematics and dynamics of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, 7-DOF, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. The database was compiled from 19 arm activities of daily living. The cable-actuated dexterous exoskeleton for neurorehabilitation (CADEN)-7 offers remarkable opportunities as a versatile human–machine interface and as a new generation of assistive technology. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading ...

• Type: Journal
• Year: 2007
• Where: IJHR
• Authors: Jacob Rosen, Joel C. Perry
• Keywords: Exoskeleton, IJHR 2007, Upper Limb, Virtual Reality Simulation