Design and Modeling of an Upper Extremity Exoskeleton

摘要

Abstract — This paper presents the design and modeling results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller in order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users. simultaneously and the total cost of the therapy can be reduced. The paper is organized as follows: Section 2 deals with the human arm anatomy. Section 3 describes the different components of our prototype. Section 4 presents the kinematic and dynamic modeling of the exoskeleton. Finally, a brief conclusion highlights the ongoing works but also the perspectives of this project.