Structural synthesis of the upper limb modular wearable exercisers

摘要

A new and high-efficient rehabilitation technology is now available through robotics, especially wearable exoskeletons robotic systems. After an analysis of representative rehabilitation exercisers, the upper limb structure is presented as well as its models. Based on anatomical and biomechanical considerations, the structural synthesis of the mechanisms for upper limb wearable exercisers is given and initial design of a family of such exercisers is emphasized. For active motions with controlled resistive torque, a brake based on electrorheological fluid is described.