期刊
JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME
卷 3, 期 3, 页码 -出版社
ASME
DOI: 10.1115/1.3191724
关键词
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资金
- University of Delaware
- Ministry of Education, Science and Technology [R32-2008-000-10022-0]
- Royal Academy of Engineering of England
- Bournemouth University (UK)
- Ministry of Education, Science & Technology (MoST), Republic of Korea [R32-2008-000-10022-0] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This paper outlines the design of a wearable upper arm exoskeleton that can be potentially used 10 assist and train arm movements of stroke survivors or subjects with weak musculature In the last 10 years a number of upper arm training devices have emerged However, due to their size and weight, their use is restricted to clinics and research laboratories Our proposed wearable exoskeleton builds upon our research experience in wire driven manipulators and design of rehabilitative systems The exoskeleton consists of three main parts (i) an inverted U shaped cuff that rests on the shoulder (ii) a cuff on the upper arm and (m) a cuff on the forearm Six motors mounted on the shoulder cuff drive the cuffs on the upper arm and forearm with the use of cables In order to assess the performance of this exoskeleton prior to use on humans a laboratory test bed has been developed where this exoskeleton is mounted on a model skeleton instrumented with sensors to measure joint angles This paper describes the design details of the exoskeleton and addresses the key issue of parameter optimization to achieve a useful workspace bared on kinematic and kinetic models The optimization results have also been motivated from activities of daily living [DOI 10.1115/1.3191724]
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