Review of Upper Limb Hybrid Exoskeletons

Upper-Limb Exoskeletons for Physically Weak Persons

Learning by Demonstration for Motion Planning of Upper-Limb Exoskeletons

The reference joint position of upper-limb exoskeletons is typically obtained by means of Cartesian motion planners and inverse kinematics algorithms with the inverse Jacobian; this approach allows exploiting the available Degrees of Freedom (i.e. DoFs) of the robot kinematic chain to achieve the desired end-effector pose; however, if used to operate non-redundant exoskeletons, it does not ensu...

Upper Limb Prosthetic Management Hybrid Design Approaches

A Systematic Approach For Kinematic Design Of Upper Limb Rehabilitation Exoskeletons

Kinematic structure of an exoskeleton is the most fundamental block of its design and is determinant of many functional capabilities of it. Although numerous upper limb rehabilitation devices have been designed in the recent years, there is not a framework that can systematically guide the kinematic design procedure. Additionally, diversity of currently available devices and the many minute det...

Passive exoskeletons for assisting limb movement.

This article presents the state of the art in passive devices for enhancing limb movement in people with neuromuscular disabilities. Both upper- and lower-limb projects and devices are described. Special emphasis is placed on a passive functional upper-limb orthosis called the Wilmington Robotic Exoskeleton (WREX). The development and testing of the WREX with children with limited arm strength ...