Upper-limb powered exoskeleton design外文电子书籍.pdfVIP

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Upper-limb powered exoskeleton design外文电子书籍.pdf

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408 IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 12, NO. 4, AUGUST 2007 Upper-Limb Powered Exoskeleton Design Joel C. Perry, Jacob Rosen, Member, IEEE, and Stephen Burns Abstract—An exoskeleton is an external structural mechanism are fed back to the user through the exoskeleton conveying with joints and links corresponding to those of the human body. shape, stiffness, texture, or other characteristics of the virtual With applications in rehabilitation medicine and virtual real- objects [8], [9]. ity simulation, exoskeletons offer beneﬁts for both disabled and 4) Master device : Replacing the virtual environment with a healthy populations. A pilot database deﬁning the kinematics and dynamics of the upper limb during daily living activities was one real robot, the operator uses the exoskeleton to control a among several factors guiding the development of an anthropomor- robotic system in a teleoperation (master/slave) mode, where phic, 7-DOF, powered arm exoskeleton. Additional design inputs the exoskeleton reﬂects back to the user the forces generated include anatomical and physiological considerations, workspace as the slave robot interacts with the environment [10], [11]. analyses, and upper limb joint ranges of motion. The database was compiled from 19 arm activities of daily living. The cable-actuated dexterous exoskeleton for neurorehabilitation (CADEN)-7 offers The previous two generations of this research effort consisted remarkable opportunities as a versatile human–machine interface of 1-DOF and 3-DOF proof-of-concept prototypes.