UPPER LIMB POWERED EXOSKELETON

Abstract

An exoskeleton is a wearable robot with joints and links corresponding to those of the human body. With applications in rehabilitation medicine, virtual reality simulation, and teleoperation, exoskeletons offer benefits for both disabled and healthy populations. Analytical and experimental approaches were used to develop, integrate, and study a powered exoskeleton for the upper limb and its application as an assistive device. The kinematic and dynamic dataset of the upper limb during daily living activities was one among several factors guiding the development of an anthropomorphic, seven degree-of-freedom, powered arm exoskeleton. Additional design inputs include anatomical and physiological considerations, workspace analyses, and upper limb joint ranges of motion. Proximal placement of motors and distal placement of cable-pulley reductions were incorporated into the design, leading to low inertia, high-stiffness links, and back-drivable transmissions with zero backlash. The design enables full glenohumeral, elbow, and wrist joint functionality. Establishing the human-machine interface at the neural level was facilitated by the development of a Hill-based muscle model (myoprocessor) that enables intuitive interaction between the operator and the wearable robot. Potential applications of the exoskeleton as a wearable robot include (i) an assistive (orthotic) device for human power amplifications, (ii) a therapeutic and diagnostics device for physiotherapy, (iii) a haptic device in virtual reality simulation, and (iv) a master device for teleoperation.