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1、408IEEE/ASMETRANSACTIONSONMECHATRONICS,VOL.12,NO.4,AUGUST2007Upper-LimbPoweredExoskeletonDesignJoelC.Perry,JacobRosen,Member,IEEE,andStephenBurnsAbstractAnexoskeletonisanexternalstructuralmechanismarefedbacktotheuserthroughtheexoskeletonconveyingwithjointsandlinkscorrespondingtoth
2、oseofthehumanbody.shape,stiffness,texture,orothercharacteristicsofthevirtualWithapplicationsinrehabilitationmedicineandvirtualreal-objects[8],[9].itysimulation,exoskeletonsofferbenefitsforbothdisabledand4)Masterdevice:Replacingthevirtualenvironmentwithahealthypopulations.Apilotdata
3、basedefiningthekinematicsanddynamicsoftheupperlimbduringdailylivingactivitieswasonerealrobot,theoperatorusestheexoskeletontocontrolaamongseveralfactorsguidingthedevelopmentofananthropomor-roboticsysteminateleoperation(master/slave)mode,wherephic,7-DOF,poweredarmexoskeleton.Addition
4、aldesigninputstheexoskeletonreflectsbacktotheusertheforcesgeneratedincludeanatomicalandphysiologicalconsiderations,workspaceastheslaverobotinteractswiththeenvironment[10],[11].analyses,andupperlimbjointrangesofmotion.Thedatabasewascompiledfrom19armactivitiesofdailyliving.Thecable-a
5、ctuateddexterousexoskeletonforneurorehabilitation(CADEN)-7offersTheprevioustwogenerationsofthisresearcheffortconsistedremarkableopportunitiesasaversatilehumanmachineinterfaceof1-DOFand3-DOFproof-of-conceptprototypes.Althoughandasanewgenerationofassistivetechnology.Proximalplace-mu
6、chlesscomplexfrombothmechanicalandcontrolstand-mentofmotorsanddistalplacementofcable-pulleyreductionspoints,theyconvincinglydemonstratedthatanovelmethodofwereincorporatedintothedesign,leadingtolowinertia,high-stiffnesslinks,andbackdrivabletransmissionswithzerobacklash.higherlevelc
7、ontrolusingsurfaceelectromyographic(sEMG)Thedesignenablesfullglenohumeral,elbow,andwristjointfunc-signalsastheprimarycommandsignalwasviable[12],[13].tionality.PotentialapplicationsoftheexoskeletonasawearableTheobjectiveofthecurrentstudywastodesignanan-robotinclude:1)atherapeutican
8、ddiagnosticsdeviceforphysio-throp
