Design of an arm exoskeleton with scapula motion for shoulder rehabilitation

Biomechanical study of upper-limb exoskeleton for resistance training with three-dimensional motion analysis system

“…, flx-ext = flexion-extension, = joint torques for exoskeleton exercise. Most of the rehabilitation and healthcare robotic exoskeletons mentioned in the introduction are primarily designed to actively assist patients with motions (except for the T-WREX) [3][4][5][6][7][8][9]. Design trade-offs are made among various kinematic designs, actuator/drive technologies, power-to-weight ratios, and control architectures.…”

“…The studies cited previously indicate that the medical advances resulting from research on stroke and the resources invested in the rehabilitation of stroke victims have been focused on the acute and subacute recovery phases and that less attention has been directed at the more chronic recovery phases [3][4][5][6][7][8][9]. This situation has resulted in substantial health disparities in the later phases of stroke care.…”

“…Similar to L-Exos, the cableactuated dexterous exoskeleton for neurorehabilitation (CADEN)-7 is another cable-driven exoskeleton with an additional joint on the wrist mechanism, allowing wider range of motion [6]. Rigid links and motor-driven joints are common features of these designs [3][4][5][6], which add moving inertia to the segments of the human arm. L-Exos and CADEN-7 have attempted to lessen the increased inertia by placing the electric motors on the stationary base while driving by means of steel cables and reduction gears or pulleys integrated at the joint axis.…”

“…The ARMin III robot provides six actuated degrees of freedom (DOFs) to assist patients with shoulder, elbow, and wrist movements [3]. The MarylandGeorgetown-Army Exoskeleton is composed of a serial assemblage of five powered linkages and joints, allowing for full therapeutic exercise of the shoulder complex [4]. The light exoskeleton (L-Exos) is a five DOFs force-feedback exoskeleton, four of which are actuated and sensorized (three for the shoulder, one for the elbow), and the wrist is only sensorized [5].…”

Telerehabilitation robotics: Bright lights, big future?

“…The Maryland-Georgetown-Army (MGA) Exoskeleton is a collaboration between Georgetown University and the University of Maryland (College Park, Maryland) to develop a robotic device for shoulder rehabilitation [42]. The exoskeleton, shown in Figure 10, is electrically powered and builds on advances in actuator/drive technology for developing a lightweight but powerful design.…”