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.

• Periodical: Applied Mechanics and Materials (Volume 823)
• Pages: 107-112
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.823.107
• Online since: January 2016
• Authors: Dan Mândru*, Olimpiu Tǎtar, Simona Noveanu, Alexandru Ianoşi-Andreeva-Dimitrova
• Keywords: Exoskeleton, Kinematics, Modeling, Upper Limb

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