This paper proposes the design of a 4 DOF exoskeleton robotic arm for rehabilitation. This proposed robot arm can be used easily with either the user’s left or right arm. This robot arm is designed to have low inertia, high stiffness link, and zero backlash transmissions. It supports the patient’s arm during rehabilitation which is a repetitive task and takes a period of time. Each joint of thi...

This article was accepted fur publication September 26, 1991. Behavioral research has indicated that thumbsucking often covaries with hair pulling and that the elimination of thumb-sucking can result in the elimination of the hair pulling with which it was associated (e.g., Frlman & Hove, 1987; Knell & Moore, 1988). Treatments for persistent thumb-sucking, however, have shown minimal or transie...

Exoskeletons may form a new strategy to reduce the risk of developing low back pain in stressful jobs. In the present study we examined the potential of a so-called passive exoskeleton on muscle activity, discomfort and endurance time in prolonged forward-bended working postures. Eighteen subjects performed two tasks: a simulated assembly task with the trunk in a forward-bended position and sta...

The elbow joint is a complex articulation composed of the humeroulnar and humeroradial joints (for flexion-extension movement) and the proximal radioulnar articulation (for pronation-supination movement). During the flexion-extension movement of the elbow joint, the rotation center changes and this articulation cannot be truly represented as a simple hinge joint. The main goal of this project i...

Ram Murat Singh is with the National Institute of Technical teachers Training and Research, Chandigarh, India (phone: +919041933679; e-mail: rammurat.singh@ gmail.com). Dr. S. Chatterji (Prof. and head, Electrical Engg deptt.) is with National Institute of Technical teachers Training and Research, Chandigarh, India (e-mail: [email protected]). Abstract—In the present review article the...

This paper touches upon the issue of designing of an upper-limb exoskeleton used for rehabilitation. Mainly there are presented the results concerning the mechanical design. The exoskeleton, also known as orthosis, has 12 degrees of freedom (DOF). Among 12 DOF there can be distinguished 7 DOF which are actively controlled during rehabilitation, 3 passive DOF which are responsible for wrist move...

In this paper, we introduce the concept of an exoskeleton as a new abstraction of arbitrary shapes that succinctly conveys both the perceptual and the geometric structure of a 3D model. We extract exoskeletons via a principled framework that combines segmentation and shape approximation. Our method starts from a segmentation of the shape into perceptually relevant parts and then constructs the ...

This paper represents the first part of our work in which a successful exoskeleton system has been designed. With this design, the concentration is on effects of compliant human – exoskeleton robot on kinematics and muscle activity during human walking with or without carrying loads. In order to achieve these aims, two control methods are used: kinematic and surface electromyography (sEMG) – ba...

Despite the benefits of the robotic technologies on rehabilitation, human involvement is still critical. On the aspect of patients, they also need the supervision of the therapist as well as their active guidance and their expertise. In this paper, a novel master-slave rehabilitation system with force feedback and a meaningful training model for recovering the elbow joint function is presented....

In this paper we propose an exoskeleton control method for adaptive learning of assistive joint torque profiles in periodic tasks. We use human muscle activity as feedback to adapt the assistive joint torque behaviour in a way that the muscle activity is minimised. The user can then relax while the exoskeleton takes over the task execution. If the task is altered and the existing assistive beha...