Design and Modelling of a Human Upper Limb for Rehabilitation Exoskeleton

Abstract

Electromechanical systems that interact with the user to offer power amplification, assistance, or replacement of motor function are known as exoskeletons for the upper limbs.The upper extremity rehabilitation exoskeletons have garnered increasing attention and impact in the healthcare sector over the past years due to the advancements in the field of robotic control devices and actuation elements.The necessity for assistive supporting and rehabilitation devices that either help improve human strengths or provide assistance in regaining lost motion of a specific limb joint arises as a result of changing trends and a growing population.Age-related bone loss often results in weaker, more fragile bones that make lifting and carrying huge loads more difficult.A stroke can impair mobility and is more likely occurs to the elderly people.Accidental paralysis as well as other health issues including spinal cord injuries, musculoskeletal disorders due to work environment are on the rise resulting in an increased urge for the assistive devices.The motive of this paper is to design a mathematical model of the human upper limb involving DH parameters and forward kinematics alongside with the human joint study to precisely design the model in order to design an upper extremity exo-skeleton for offering limb rehabilitation considering the human joint constraints with respect to the Sagittal, Coronal and Transverse planes.This study is aimed in providing a significant vision in developing the precise rehabilitation devices that can aim in offering the joint specific treatment to the user for human upper arm therapy.