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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.

The shape memory alloys possess attractive characteristics as actuation elements. They are capable of transforming thermal energy into mechanical work. This paper presents our results in developing a modular linear and rotary family of shape memory alloy actuators, designed in several dimensions, in order to actuate high performance precision engineering and mechatronic systems.

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