tailieunhanh - Universal exoskeleton arm design for rehabilitation

This paper proposes the design of a 4 DOF exoskeleton robotic arm for rehabilitation. This proposed robot arm can be used easily with either the user’s left or right arm. This robot arm is designed to have low inertia, high stiffness link, and zero backlash transmissions. | Journal of Automation and Control Engineering Vol. 3, No. 6, December 2015 Universal Exoskeleton Arm Design for Rehabilitation Siam Charoenseang and Sarut Panjan Institute of Field Robotics, King Mongkut’s University of Technology Thonburi, Bangkok, Thailand Email: siam@, sa_panjan@ Abstract—This paper proposes the design of a 4 DOF exoskeleton robotic arm for rehabilitation. This proposed robot arm can be used easily with either the user’s left or right arm. This robot arm is designed to have low inertia, high stiffness link, and zero backlash transmissions. It supports the patient’s arm during rehabilitation which is a repetitive task and takes a period of time. Each joint of this exoskeleton can be rotated from -90 to 90 degrees. From the result of joint trajectory of exoskeleton, this exoskeleton can support the daily movement of human arm and can be utilized for both arms. Furthermore, this proposed robot arm can be applied as a therapeutic and diagnostics device for physiotherapy, assistive device for human power amplifications, a haptic device for virtual reality simulation, and a master-slave device for teleportation. driven by compliant pneumatic muscle actuators (PMA). The Mechatronics and Haptic Interfaces (MAHI) [6], [7] is designed to have 5 degrees of freedom for the elbow and forearm. The wrist of this exoskeleton is a 3-RPS (revolute-prismatic-spherical) joint. The non-wearable rehabilitation robots are usually adapted from the industrial robots but only one point of physical contact between patient wrist and the robot’s end-effector such as MIT-MANUS [8] and MIME [9]. Both devices are designed for rehabilitation of shoulder and elbow joints. Benefits of wearable robotic rehabilitation are controlling and generating of force feedback to each user arm’s joint. Those rehabilitation robots are usually designed for right or left arm only. On the other hand, the advantage of nonwearable robot is flexibility for .