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[194] Citation: Abstract
The exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. Worn by the human, the exoskeleton trans
mits torques from proximally located actuators through rigid exoskeletal links to the human joints. This paper presents the development of an anthropometric se
ven degree-of-freedom powered exoskeleton for the upper limb. The design was based on a database defining the kinematics and the dynamics of the upper limb dur
ing daily living activities, as well as workspace analyses, joint ranges of motion, and joint physiological and upper limb anatomical considerations. Proximal
placement of motors and distal placement of pulley reductions were incorporated into the design of a cable-driven wearable robotic arm. This design led to low
inertias, high-stiffness links, and back-drivable transmissions with zero backlash. Potential applications of the exoskeleton as a wearable robot include use a
s: (1) a therapeutic and diagnostics device for physiotherapy, (2) an assistive (orthotic) device for human power amplifications, (3) a haptic device in virtua
l reality simulation, and (4) a master device for teleoperation.
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Updated: Tue Jul 15 23:54:51 2008
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